Upload folder using huggingface_hub (part 87)

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+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1250,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1248,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1251,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1251,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1251,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1250,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1250,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1247,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1249,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1249,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1250,"success":true,"robot_type":"ur5e"}
+{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1250,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1250,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1245,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1251,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
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+{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1251,"success":true,"robot_type":"ur5e"}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/resolved_config.yaml

@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00008
+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 a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00008
+  reproducibility:
+    enabled: true
+    layout_id: layout_00008
+    action_seed: 256126101476888679
+    step_seeds:
+    - 311217257694147886
+    - 3018262179648942721
+    - 2316423958212659800
+    - 9104040522929253704
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2102
+      - 0.2102
+      'y':
+      - 0.2956
+      - 0.2956
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2173
+      - 0.2173
+      'y':
+      - -0.0203
+      - -0.0203
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3518
+      - 0.3518
+      'y':
+      - 0.1319
+      - 0.1319
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2142
+      - 0.2142
+      'y':
+      - -0.379
+      - -0.379
+      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_a
+    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: 0.3
+      gripper_distances: 0.019
+      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
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - 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_s04_pslr_htb_00008
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_0_success.json

@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2322919490478739,
+              0.3022230591744065,
+              1.0487393758894539
+            ],
+            "current_z": 1.0487393758894539,
+            "required_z": 0.8611065602513349,
+            "initial_z": 0.7611065602513349,
+            "lift_margin": 0.18763281563811895,
+            "gripper_z": 1.0520113562899627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2270218209282098,
+              0.2972366641022451,
+              1.0520113562899627
+            ],
+            "object_minus_gripper": [
+              0.005270128119664097,
+              0.00498639507216142,
+              -0.0032719804005088005
+            ],
+            "object_to_gripper_xy": 0.0072552316443618755,
+            "object_to_gripper_z": -0.0032719804005088005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2322919490478739,
+              0.27766053965669424,
+              1.0487393758894539
+            ],
+            "finger_b": [
+              0.2202315287667249,
+              0.3022230591744065,
+              1.0487393758894539
+            ],
+            "finger_midpoint": [
+              0.2262617389072994,
+              0.28994179941555037,
+              1.0487393758894539
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060302101405745046,
+              0.012281259758856133,
+              0.0
+            ],
+            "finger_gap": 0.027363682179413398,
+            "fingertip_max_gap": 0.09112851606657926,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013681841089706699,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487393758894539,
+            "object_top_z": 1.0991391164935802,
+            "finger_top_clearance": 0.05039974060412633,
+            "fingertip_min_top_clearance": 0.015119922181237899,
+            "object_projection_between_fingers": 0.8057433882148539,
+            "object_to_finger_line_xy": 0.010825820392344806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048064258033289634,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.42131295017006626,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "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,
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3013102091628966,
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+    "visual_seed": 8536624097094401681,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_101_success.json

@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_102_success.json

@@ -0,0 +1,926 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_103_success.json

@@ -0,0 +1,926 @@
+{
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+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_104_success.json

@@ -0,0 +1,926 @@
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+                "fr3_rightfinger",
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+                "gripper",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_105_success.json

@@ -0,0 +1,926 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_106_success.json

@@ -0,0 +1,926 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_107_success.json

@@ -0,0 +1,926 @@
+{
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_108_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+                "fr3_rightfinger",
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+                "joint1",
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+                "left_inner_finger",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+  "reproducibility": {
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa3be75e6e0d357e3091dd0ee1a3634e7af2ed4848bed4bd5c212664dc342bc3",
+    "visual_seed": 2555893034685131590,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+    "runtime_workflow_digest": "c01db8a7a6370a567e846b68d676824307f28dcd835a67045a8ad697b250e1b0"
+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_109_success.json

@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "robotiq_2f85",
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+                "wrist_2_joint",
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
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+    "visual_seed": 4444633409598620094,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_10_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
+  "passed_steps": 4,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_110_success.json

@@ -0,0 +1,926 @@
+{
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+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_111_success.json

@@ -0,0 +1,926 @@
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+                "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",
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+                "panda_joint3",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_2_joint",
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+                "desk",
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+    "visual_seed": 7813273052318686825,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_113_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_114_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_116_success.json

@@ -0,0 +1,926 @@
+{
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+                "elbow_joint",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_117_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_11_success.json

@@ -0,0 +1,926 @@
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint3",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_leftfinger",
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+                "ridgebase_fr3",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
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+    "visual_seed": 1105715930102624315,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_12_success.json

@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
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+                "dummy_base_prismatic_y_joint",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_13_success.json

@@ -0,0 +1,926 @@
+{
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+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_16_success.json

@@ -0,0 +1,926 @@
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "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",
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+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_festo",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "wrist_2_joint",
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+    "strict_task_state": false,
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+    "visual_seed": 2813522076587518820,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/results/episode_17_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+}