Upload folder using huggingface_hub (part 44)

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ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/resolved_config.yaml

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+name: lab3_heat_2beaker_s03_plr_hta_00032
+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:
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+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00032
+  reproducibility:
+    enabled: true
+    layout_id: layout_00032
+    action_seed: 8965520104066671838
+    step_seeds:
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+    - 1147186024122430536
+    - 7048677080094423649
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
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+      - 0.1405
+      'y':
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+      - 0.2347
+      z:
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+      - 0.0
+    role: source
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+    path: /World/target_beaker
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+      - 0.2136
+      'y':
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+      - -0.0537
+      z:
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+      - 0.0
+    role: source
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+    path: /World/target_plat
+    position_range:
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+      - 0.3536
+      'y':
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+      - 0.1172
+      z:
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+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
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+      - 0.2491
+      'y':
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+      - -0.3834
+      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: 0.4
+      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_hta_00032
+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_hta_00032/results/episode_0_success.json

@@ -0,0 +1,700 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "reason": "executed",
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+          "failure_messages": {},
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "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"
+              ],
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+                "caster",
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+                "ground",
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+                "link0",
+                "table",
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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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+                "/World/heat_device/heat_device/heat_device/plat"
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+                "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"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "attach_allowed": false,
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+      }
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+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PressSuccessChecker",
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+          "target": "heat_button",
+          "passed": true,
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+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
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+            "closest_contact_pad_minus_button": [
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_10_success.json

@@ -0,0 +1,700 @@
+{
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+    "seed_source": "workflow.reproducibility",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_11_success.json

@@ -0,0 +1,700 @@
+{
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+                "fr3_rightfinger",
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+    "strict_task_state": false,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_12_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_13_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "elbow_joint",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+    "ordinary_attach_violations": [],
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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": "264f3a1019aaad43553ab03b8bf40667ad99f021460a09dfb602671d00abbaac",
+    "visual_seed": 3467601207228369874,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_14_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "elbow_joint",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "panda_joint2",
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+  "reproducibility": {
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
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+    "visual_seed": 6192544915683036978,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_15_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+    "ordinary_attach_violations": [],
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
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+    "visual_seed": 4425941564014684860,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_16_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_17_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_18_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "wheel",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_19_success.json

@@ -0,0 +1,700 @@
+{
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint4",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_y",
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+                "panda_joint2",
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+                "panda_joint5",
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+                "panda_leftfingertip",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "ur5e",
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+                "wrist_2_joint",
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
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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": 3996986717097508803,
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+    "physical_randomization_enabled": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_1_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "left_inner_finger",
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+                "mobile_translate_x",
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+                "panda_joint3",
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+                "right_inner_finger",
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+                "elbow_joint",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "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_joint5",
+                "panda_joint6",
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+                "panda_leftfinger",
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+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
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+                "wrist_2_joint",
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+    "ordinary_attach_violations": [],
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_20_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "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_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "wrist_2_joint",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_21_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "elbow_joint",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_22_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "elbow_joint",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint4",
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+                "mobile_translate_y",
+                "panda_joint1",
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+                "robot",
+                "robotiq_2f85",
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d632195c1b32f20b4edb18385ae2f82fff6fbd2091e020d44aada022f15434d0",
+    "visual_seed": 5551130195183223075,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_23_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
+  "passed_steps": 3,
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_24_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_25_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                "fr3_rightfinger",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/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_hta_00032/results/episode_27_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_28_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_29_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_2_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_30_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_31_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_32_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_33_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_34_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_35_success.json

@@ -0,0 +1,700 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_36_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "288f0e8d7a29b7033cb1babf469d00b7914f44616f0efb474c3694f7865937f3",
+    "visual_seed": 2347522421633296046,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_37_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+                },
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+                "gripper",
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+                "joint1",
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+                "gripper",
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+                "panda_joint2",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_38_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_39_success.json

@@ -0,0 +1,700 @@
+{
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+    "ordinary_attach_violations": [],
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+    "physical_randomization_enabled": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_3_success.json

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

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_40_success.json

@@ -0,0 +1,700 @@
+{
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_rightfingertip",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_41_success.json

@@ -0,0 +1,700 @@
+{
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+              "allowed_objects": [
+                "heat_button"
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+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "left_inner_finger",
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+                "mobile_rotate",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
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+                "robot",
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+                "workbench"
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+              "enabled": true
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3ef36cc6bc6d6cb814f9e77ea48172db1dd5afad5720c9c02eed8c6e093e46e",
+    "visual_seed": 3662803514668398255,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00032/results/episode_42_success.json

@@ -0,0 +1,700 @@
+{
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+  "success": true,
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+              -0.44099890931652763,
+              0.7891275772018426
+            ],
+            "closest_contact_pad_button": [
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+              -0.43880808353424067,
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
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+              -0.002190825782286965,
+              0.02081196393203666
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "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,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
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+    "workflow_spec_digest": "1f14f14c21657533dff845b4f853cc1e20f1f767ece92f1159b4db22dc8b9657",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e3eb7f9b3595bf51f0af5488da3e3fd6793d441b318372414b8ef3cb78f811c",
+    "visual_seed": 8652019428276463869,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+    "runtime_workflow_digest": "7b61facd06405f7fbc64b12718d1ae2a53ab70c8fc3a28f236a630d76dc24f88"
+  }
+}