Upload folder using huggingface_hub (part 72)

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+{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":952,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":957,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":948,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":960,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":948,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":952,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":948,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":954,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":949,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":959,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":953,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":955,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":949,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":962,"success":true,"robot_type":"ur5e"}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/resolved_config.yaml

@@ -0,0 +1,233 @@
+name: lab3_heat_2beaker_s03_plr_htd_00031
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Place beaker b on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00031
+  reproducibility:
+    enabled: true
+    layout_id: layout_00031
+    action_seed: 6098556129387905517
+    step_seeds:
+    - 4567401361451441112
+    - 7000790218311912638
+    - 7522013946436761511
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3541
+      - 0.3541
+      'y':
+      - -0.084
+      - -0.084
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1607
+      - 0.1607
+      'y':
+      - 0.2142
+      - 0.2142
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3441
+      - 0.3441
+      'y':
+      - 0.1152
+      - 0.1152
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2746
+      - 0.2746
+      'y':
+      - -0.3303
+      - -0.3303
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_0_success.json

@@ -0,0 +1,700 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.21134041794159875,
+              1.156706762594885
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.30012025518631946,
+            "gripper_z": 1.150555600618081,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.20635040181270164,
+              1.150555600618081
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+              0.004990016128897101,
+              0.006151161976803987
+            ],
+            "object_to_gripper_xy": 0.006934749402805049,
+            "object_to_gripper_z": 0.006151161976803987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.189332781443868,
+              0.187346193939502,
+              1.156706762594885
+            ],
+            "finger_b": [
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+              0.21134041794159875,
+              1.156706762594885
+            ],
+            "finger_midpoint": [
+              0.18380138397467696,
+              0.19934330594055039,
+              1.156706762594885
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01199711200104836,
+              0.0
+            ],
+            "finger_gap": 0.026421737590693915,
+            "fingertip_max_gap": 0.09054968838518604,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013210868795346945,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.156706762594885,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777484419259302,
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+            "object_upright_axis_local": [
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+              1.0
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+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+        "post_done_wait_frames": 0,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              0.8470194856976212
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
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+          "failure_messages": {},
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_10_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_11_success.json

@@ -0,0 +1,700 @@
+{
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_12_success.json

@@ -0,0 +1,700 @@
+{
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+                "fr3_leftfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_13_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_14_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_15_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_16_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_17_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_18_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_19_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_1_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_20_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_21_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_22_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_23_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_24_success.json

@@ -0,0 +1,700 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_25_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_26_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_27_success.json

@@ -0,0 +1,700 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00031/results/episode_28_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+  }
+}