diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85b7a3d72d040432d65b3566524292aed57e1faa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b642a994a6e105b768d5f2622e04a466c48c60cdb561237ac1cdb5de0e1be59
+size 4442467
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..668f466ad6d971c4b3c5e469e22b5ec07685940c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8d2b7a0975ba29cf9668cc7dd89c33d842dbd7487f8ee9b11de6822d339bfd
+size 4591374
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f72b7d92d59d8c1b58ed7c1866e52da6c37c9c36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:650e0a2fbf3df7e237e0d6e555158b24c6f391510983bde731b3352f4dcd26fd
+size 5554919
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f5cbf39bf4a10c3004617c1aad11c946c52c7d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f6fac015890feb6a42189b7b2d79c16d319ee20f64b4b6254eb40df7d22b97
+size 6868999
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a9d411973b166ec781f10866c068ec5e115ac32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd29e72b35d6a3049f24679b68c582556570a120f3d195c6ac2393e9b6c30a5
+size 7321702
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2bd00aea9e39daa4c2737a38cc5fb8fd453fd8c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576494eb021a3f0b9f51746e3e297d17ecd1feeb24d02bb17bccf15f76c1def8
+size 6078786
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9182e9d8adc3a2c0910d5e84a84961cd8b52e90b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591d0f4833ae736f4873b5a0fb729fb2233914d9eb6ecb2865ed7a1dcd134b28
+size 5389848
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..76a491a03dfc58bf8c4ac9f389e0fc17fe1c3efe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4edc5e026a7737105275b3da8058c9385a6e9929f0395a377d4294677b0af058
+size 6467239
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..52841066aef16b18dbe8c715ae9b85cc0840dd4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f94c6f7fe84e9207fe2772dbb7d2b467a54bb2a2716ee44b1bbdb0911d13c92
+size 6253259
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ae20d6a0859bb2188e08ea511adb54224a90694
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48c2850ee39ec073e80ffa71520effc6d7dbd748f8dd27aa2e9e60c0282c004
+size 4706783
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb40c31ef460849555f05a5f2086fc5f2db2889a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7eb1f85218a88183b5fb1b0a4c84d92baf014132f13011637aa14aee4eb1b2
+size 5522573
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b9bfba878c651098ac249960fdd0bd7b9ae9b31e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b509b4488059be79b7b854c53c2a849d21d6a760366d386336089a2f2056395
+size 4279382
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2498e307e81658a4b4ceaeebf86d33e093d474f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4f46f5d6dff42eccdb03c457805fd9950e6c1c5e4b47723ad883a9ab3055eec
+size 5425395
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7e7fbdafff03eb9a1c1e5e100dd634e367bc48d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096075df75ca58fd85d62d59c8b38f552813cdb8374b647f3353f6b1dad0e7ef
+size 4895301
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..537e29fbc25747163b66420e7aaff442a6a38a11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4570f6ef63ab0d695dfaeb19f7d640be44491d11ebe37423ca5161763a6cc105
+size 4618329
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5dc9d5588db5f9cee0e70fcb0adcc1e7b26c0bee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0848e986f03161964fcdffddac55400db8bbe1575d074c3175cd7a1aeffc0317
+size 6477308
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b39fdad4d6942a9dfb0dd2914874414e42e648de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b124d857ef95765c96a3b3afd5c94408c8c843279ee54c5c5c98be494991ef
+size 5165925
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de02697dba839fbc6b4ae4a847be520b980d01f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560a2f277c1475d6632bbd7e133d0c8a6e11afabe9f31f1c4f38a7161f8a1f40
+size 3998779
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..15dcdb27b14660ced7402231d942592355cc823d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd07a23c08b7a34502dfa0f9febc89fe597be92d0c25ce2950af0bb29f95fed
+size 7120492
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f4afc0eb834ce93e2e2bd9bb2c37dd9dc8f2776c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962f4c383878691357cd6f09ea296bc41f50f99c93a8a3831b6b1095f791c058
+size 5129204
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3ba81419eb64665ccc01febe0800dd84636eb16e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc1d08b77132147124d47e80fdf2e9cc603c0639589ddcc9b0017bbda80a7b6
+size 5658910
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a4994886a64238ebf956bea572d6e1dfdef719a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba5506082d30c1153cfda9c5ff480ae8851cb0a2696e5f12a2a158a1799ab34
+size 5111281
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df21bf429dbe90ea157d2f4efa994c39459bcce4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5393905aadfdd33a259c56183b58554582e250e6bde2dad65b5f9d4346dd1c85
+size 5054562
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4343dbc47cc39117e84c593c93726f1906f65503
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf841b70c4351a140c2c98f91859dc74ce4cae56d72c0dc0a49ec1d87dfdfaf
+size 5454452
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..515756eeef07caeb304f1f70f0c926636b47ee44
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e887fa72abec51f6560319419c72ef63716b639629d5212e113a578d6af582
+size 6237094
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..647ad878036b01ac9c51e0ebe6371644fc8999a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd5f4f1f813c3f9e6205ee7c3cb15b50576b61f358bdc21084068edcf3d4e7b
+size 4734964
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ab3dd2f027faf6471394b61b5e1c57b0f38c2ee7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c91b175cebc0bb676d3e7a75a88bb2b7c2c1830309ea186e7d71195cfe33f46f
+size 5185405
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b798a840bff7a73a7eb36ebea0e13be250837660
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c5be13d4af711eb70b9ceebe8fd5792c498a8e5254d1130cfdda8590179fd66
+size 5171711
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d015084e3f5b8d6df53b784bf3d457bf6ffb716
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca2ee844a205189b08cd5a380d64883d5502e03e945362dc8df246efdbd18373
+size 4744652
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cae80ac6d0e91cda09ac87a5259430550831c2b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46a9cf8d84a83073961356b82069b29d0b277942e9a6d2106673f11fc0a89754
+size 5284457
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40a1f43da4fb0fd3272f5791613718fdb6ad647d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd2e24115572e462f9a0cab4b0dfbce32f2fe8e587ee63df2d9ca4a654a9356
+size 4594965
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dc6c757dbdf1aed60fe5e7a6ddfbc01b292f727d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4c190961281dcf8c42fa9bdc1c1b21fdf8ec36eff86b865b0dde6887a7bc2e
+size 5586367
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fdaea7983013cdc708545ae4acb904ed1c77f8c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b08574f89760da170f19afddf4ab57b394ce772fe722f0b0bd11b4ef8229704
+size 5846091
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..27812ae2c82ed4f71348d8d4600f276885e8cea7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23728dd0b622b10eded1305daa6d08bad79773b6b6f2ee5f0248b603e5e8cc52
+size 5604350
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c94324fb8ab33ce78a876b65352d702d54a1f1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda47c0ec9b3be2a2c35aa8ac81b673ec55568cf2f92a4a1f56c53cd77d29e70
+size 5904246
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..701332dcfd5af5578cc85edf3fff812d9d67b246
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde3611b382c8e198e9f31eb17cefce65978ef7a90ef16f6fddb68016f93b4d1
+size 4304635
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..035536bd4ed84746cac9635cca60ed274b65a1ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8bf7ab2def087810e89139f23c97bed146e1bb2086baf5fb1caaf9ba06e33f
+size 4808070
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..86923f7f717be66d25f154797069b3796131bd5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dafc1760ab21a1d651280fafd1678a42a0c54711dac5609177f56f44552fe6a4
+size 5584939
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..10dfa690b6309075cf5fb1a472da5ee01bdd3e92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec403bbf98965459bbbe5df41df76a00a5165f1e57a3aa675418686c7b86be10
+size 5054124
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21488bd244ab845a768a50c11a3e04ab99bf539e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f803fb9041f56d3d106fab0327ee610768eb202670a1d27bbbd24042b53492d2
+size 6904975
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..afde911e4bf017c9c06e5b8ec5e9d641324ed953
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45badaeab60cdad9c85f0303f59d3cc5e133878c2a6c67087aa07c3af998403f
+size 5370887
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..39f5a3f42d97bcf102da1c4860d2972ea2832774
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b478170ed922045d94fd6287221f103acdeb0a573386f310691409c2cbe621
+size 5271380
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd96fd1e858b53cf20452cdc96544dffcea5a13c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44cdfd146bed7cb91d6cf2fed886d8e33a0d7f99f4563b1338e3d7fa14ee766f
+size 5549529
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40339294395cd0d4cc6d7341607e853805d125a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c36a1d33b40ff0ff085c377f5d66fde4384ebe3c8236868ea4082947537cc9
+size 5301533
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7d6ae46c4b1e3b91a553b68fae55c125fa1e4019
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c772c08de269dc7c83ef275d33c23e5e9733f89692add80f8eb8bb8d698c619
+size 6036057
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..152074f088af5ee1e5f42927169af8a272781d0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:656853fc43daeba1a7f56db08843cc2199ebc1731b757b8c5c46e84e42958896
+size 5737125
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc91882707bc160a5859a3884c1bafcdd0adf7fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d106cdc2f43d4af5d02a2b2ab1bb66e91b8c7251c4860dee91379b9732155cc7
+size 7574929
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c5bb8fedf26a661233685868e6f3f0d04d5a2e60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b31c51c95a6bbf9563226c2ccf5b1f207afa283d7bca5e2f8fe779882dd1c8
+size 4839158
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d41c9f4ec1aadee0921f43d1dda90c62beec38dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dee6bc86bde9841acab4c9f1419e579d9898998f67073f02d811fc76e320371
+size 6398115
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4502f9be5d79111b2ba5c333c02e74d73476a04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe6045cb7f894243a68ed5f29f2c486fe846b526c0ec7bd3e23576575225d87
+size 4348159
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85ee9ad09723ec899ae0af46ce965fca020929e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3fc2f81d62c921e252984eedda4f13c9cf017ca7b4a243a3effb9eed4ad66c
+size 5256769
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ad744952cf2ef2241422e77d5d69489f66a229c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc848838c2d29246494fabebc3b268ee7c94657b609dee9e394672ff1fb9105
+size 5805626
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c62a9b6f3d671396db3d49d060a42f7b261e7271
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8106491195d30385b29115b39b03deff9045f152142d1f63979340e7934b7090
+size 4579762
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ad0992ae4d7e6a2fdb6521ab768673c4d891074
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b8ce9e626da6535d4239958f48a0ae76e6706d736149b428d125a8e9f101726
+size 6204813
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b7f0a8df8fb356bd92550f64a98072910f1ca0ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd9e309bfd1d4967a3f422292c4004429afe390aafa2b927ada1b575b0b53d5
+size 5100976
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb9e0a47538375c0d1cf9a946e9002555c31e007
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e987438a2f10f2fadeef4634206dbfef6268b34e9ef5f3934c5c1c43b1d3cb
+size 4425490
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..153d8e35a708fab0abe78062b3f283cf6c53e040
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0231a046d0afd88368a9b0cd0b1aa9a6a9b89bf8c930d153b1660efd032d661
+size 4782470
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1577a1096066db7f5e17044295fd2e72294cefdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625d1014e38787ef303603d13e63d3dc9821601c9927eb7b926ae51f16ed9ef9
+size 6017940
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dca992a8b85fa9611e495656ef823491833515ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f28fb2bd9e1429aaea68593afdf20dd24d1347cbc9125780f58eab88ec992d0
+size 6249607
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8a0dfcae659494d68bbcf66743d484f64361ce2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77680337a9b2f46c9435c1be774784d0688c5c2e380c15b691085dc370a08267
+size 6032639
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4c6de3e8a67b801bf6a2e64c3d6696e04c3fc049
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b565de8377ff4a66e17012863c45f9b4ce657080438af719f234f25370e54067
+size 5651624
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38526cb27cb25bfae7d43ede5d78368ca729b835
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6f0bae3c5c6be3b4da769c9b5e9392ec390e507245260af9975412fd4138e6
+size 5141221
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c312ac074d1cce9bdaa2b241697d4e94904e0f08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae4946db91857aa1b523d2261f14fce2e554ac1dda8e9abdbb593061dc5ad78
+size 5662230
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4bbc641df7c6246eb7c356a047d21a20681000bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9c0307e831e75bf9fc6e36660dae9192c31fe06e162a0df8f63a77f45118ff
+size 6373173
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d162ddd2cf0ef5fd40af5a405214518415d26203
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9804ba40894f291faa91b0c0bdb5cf90b504ed2ff04fb8bc44965ec65822161
+size 5422745
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da5ee32794560d588283ec63ded5746172d89b3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f1ce45e16f1e274e0c1572f4d8484c529c138cc932d20f5d3d477173989ccb
+size 4839288
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..01250aa4290b786a4da5410275f407717a18f997
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8052480768747a43cc3b7ac033956ec6e231cdaf531f32bae29cbf530999e5b8
+size 5645534
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21bd2aac4afc4093898535faaa8523ff81f5b9c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e908e69dd7cfa0cabfa32521dbf1ede9c5e846c631c2146d0109c825a37f6ec3
+size 5020268
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b93188cedbfa6334597a38ee6d5e65dce3661442
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ededd857a7c2226b111672287800df40d29622a9cae6c693922b1fc69a8416
+size 5618102
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6dcd7fdfe07d9c74043a64cdcba5959c2678fd64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c764f9a1f9a5423ddafdf77aaa186308e768d71af415b6f6b787404fe4cc867
+size 6828031
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9da9fe3c5cf88faf0f7de7d76f9cfb1a864981e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:777f9e13a71ed8dc39a17a5f5cba4177721cc48e80467ba48c06c0c585ae0ec3
+size 4793903
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1a54a70da2128db24659f343cc35db111f85925
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:706742b252c7a870d441fd4993d67d20673ec241300623a87cd5174ee4f2ea64
+size 4466984
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a3dce991d90f3be47252feed7b2f2239cebbae6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4c6b674a6d1b94858626dae2f053da02478af637f1df375176c0b948a4a46f
+size 4593659
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dee8afeabb928daf24feb0ec77292946e3111209
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b78f4db42533e27ea1bf279c7c991e0315280d9e1951cc080e37db224d3474bb
+size 5678850
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a4cf33309915659216270b988f83697df50efde3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54538657eaeb34f664a1768b86bc03d920014c0b09155d90a38674b41337113b
+size 5213513
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..69d0b23b38c99a213cf06570b576d3dfc87b355f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca56b6e30cc60e1711af5897b35b00488e976392882574932e22cd83b8467df5
+size 5111783
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efe3287cbd57aee423a68f296fdb614d3ba2fb64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87349c400fbdc9ac264d234a82a8366bb23fe8885fc3bbc769c1f378a9a8ab95
+size 5834842
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6797ef34f07a4c57ba44f8a184a85dc8dadcb5ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a314d77300802e92e92bb8d5d794b2ba2ff7fdeb0446651be157f4dd0d463b19
+size 4930398
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1430aac9f11aab33b7319c33fadb7dd14debb324
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aca009e6f1e154be63c2f82759dfa4c3e2a4f452dde4ad03307c88794061116
+size 5223090
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1bd027aaaba1612d44c595ea44e0b556278f5e0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878b4e5c6380d58f3d42d131392f5103511603316946c588bfc58728197a39f2
+size 4974792
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f7e8566754e4deaa1e24f13188023d87c977fd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b50cb0cae6c25305b690c4b1c29febcb24eca0b2bdef0708fc5a7b2b5d2044f
+size 5624531
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..48631ecd26c61a09bd1e94d7e134fe0cc053f8de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04679578b2df30994704f382205cd49607cadf47f8ce3bdb2ddf854358737da
+size 4154511
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e98aea803614fdf36b45cd05d17bbdca4579ebaa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ee1f8e5df3735ae9bd73c8145d55ffd3c8740793781ea4211048da16d90781
+size 6857959
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a614d48af87abb527ec7094ca7c1c789c749e26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4788cf264ac2140b781b0de83d5aceedb57da070557aab601b0bcf6e0d9cea0
+size 3961498
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29a1d0a5d92d2700e69007cb6c48c58699556295
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c264ecdc5e6f23272fa549a770ec4110b81d561584e0bc2a7fe918c98c6c69fd
+size 4817034
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e6d94d9a4dfe8b19a76ca133ee53ab7866a9ded0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf34069b102cfbee0b87591c3a60788fc65a065a42b0acadf81e1dd45944cd5
+size 4851463
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3312533971bfae2708258446f5343360f67152f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f112c10d3c8cbee98face4358fdfe4700d7c69b6a7c4b94a97d60fa6380796
+size 3940319
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a724c75ebd2475554bc9ca214c0678f4d0bd31c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd3c9ac074e53a8f4f79a0e3b8c52f3dc2e32a8a3d1a8b0715d219f87cd1cfa
+size 4898140
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d9cc7a688f0e012fa27909687775f94656e9888
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:114aad26e73446ac954f33be6ec0453c0660531ef878550bf9366395e0404577
+size 4735049
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..73baed18b259289802021319ecb233390eb744fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef6ae1a6f01936b99abd07f753c4fd8d4803efdf0c08352f013fefa85a8b1b96
+size 4741525
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ce1c9e51db80c48bb459d6a15c6b9470650c290e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b937935cfff14d64fb5f4cfee6753ac2936ec7654020d33168ca5ef78268c2f
+size 6268355
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c26c77027272d525883f90db8fccdd97ec5e0a21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cd2df0c1b450629d7d261a51a4f9bf967bf42d94a3c6c3d97304dd0e5aaf9d4
+size 5227211
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6b9070ba3c62eece0818d5689f5df83509014323
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1b9db61dab472436b78a3b1dec4ffe7235b34607e83118e1f9f348e71ead21
+size 4491240
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b1b6c3b2f975c09db8bfb80bf3dd2b25b7fd58fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92f9680c3b957337148db7359bd62760d57e17202059e4a10f44120483363478
+size 5250825
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ad48b2ea561f976706cc364809ddde376e75ea07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b84dcf76e3eaff3ec04126ba719e9938e482e21c604f3b138d3ced64e815cc7
+size 5691157
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e66c829a730932596fd6577d9c015793e59e754d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":985,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":970,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":974,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":984,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":971,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":974,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":984,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":968,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":974,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":984,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":969,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":972,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":983,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":969,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":971,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":970,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":974,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":975,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":976,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":979,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":978,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":971,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":981,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":980,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":977,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":982,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":973,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55bf02cca47a5ef233ed79c7adc006648cbe814f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T03:57:18","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.012470123259657462,-1.9704332979966477,0.71338606911949],"aabb_xy":[[-0.037524887699794576,-2.0204332970322394],[0.0624651342191095,-1.9204332989610562]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.16672773286369147,-2.499352195191906,0.71338606911949],"aabb_xy":[[0.15802977057297618,-2.511477169499381],[0.17542569515440676,-2.4872272208844315]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.4136505166885296,-0.7213094472003589,0.71338606911949],"aabb_xy":[[-0.45489932771844427,-0.7763094467125763],[-0.3724017056586148,-0.6663094476881414]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.3243331171996904,-1.8444688885605833,0.71338606911949],"aabb_xy":[[0.30670028160616275,-1.8620918345762063],[0.3419659527932179,-1.8268459425449604]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.38860601393117866,0.8002804654734028,0.71338606911949],"aabb_xy":[[0.35110601382558576,0.7934583036204217],[0.4261060140367717,0.8071026273263839]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.5330856171805651,-1.9200955677957303,0.71338606911949],"aabb_xy":[[0.4630856145439787,-1.9402004327915956],[0.6030856198171514,-1.8999907027998646]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[0.21293397458924546,0.76934329231623,0.71338606911949],"aabb_xy":[[0.14893397236883843,0.7249702081909416],[0.2769339768096525,0.8137163764415182]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.2288716778406248,0.6244216640966105,0.71338606911949],"aabb_xy":[[-0.2788716791244647,0.5744428097059883],[-0.1788716765567848,0.6744005184872325]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.5149469725156907,1.2152178737464858,0.71338606911949],"aabb_xy":[[-0.522359428057079,1.2093666633248579],[-0.5075345169743021,1.2210690841681138]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.0002091920554034843,1.6984587234763793,0.71338606911949],"aabb_xy":[[-0.06420919373340084,1.6499413319970648],[0.06379080962259387,1.7469761149556933]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.3582649271726548,-2.4205257704271297,0.71338606911949],"aabb_xy":[[0.35064065908247655,-2.428158993963674],[0.36588919526283303,-2.4128925468905864]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.16183230205864219,-0.8777224269537081,0.71338606911949],"aabb_xy":[[0.153788942132687,-0.9627224280490744],[0.16987566198459736,-0.7927224258583415]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.21321932706162305,-0.9446049499490532,0.71338606911949],"aabb_xy":[[-0.3029064033697385,-1.0346049502035037],[-0.12353225075350763,-0.8546049496946028]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.10276649270052829,-1.5435199111716735,0.71338606911949],"aabb_xy":[[0.0227664924269213,-1.61646945899739],[0.18276649297413525,-1.4705703633459566]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.31224827716588854,-2.1167691942476448,0.71338606911949],"aabb_xy":[[0.3013966709170129,-2.127628484975296],[0.3230998834147641,-2.1059099035199935]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.17934029262501883,0.30682253210649213,0.71338606911949],"aabb_xy":[[-0.2630625181251013,0.21682252857179618],[-0.09561806712493634,0.3968225356411881]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.45408211131987763,-1.8193583142321135,0.71338606911949],"aabb_xy":[[0.42908211204791535,-1.835703677828276],[0.4790821105918399,-1.8030129506359514]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.4001262240326279,1.0864695657283647,0.71338606911949],"aabb_xy":[[-0.4801200476111861,1.0064695631355234],[-0.32013240045406965,1.1664695683212065]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.08909742350475969,-0.07364304176491876,0.71338606911949],"aabb_xy":[[-0.14409290132541905,-0.1286430431988257],[-0.03410194568410027,-0.018643040331011815]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.3757608386819389,-0.8291715956880417,0.71338606911949],"aabb_xy":[[0.3257834218166853,-0.87917159717729],[0.42573825554719247,-0.7791715941987929]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.5277292687765498,-0.6624101731559777,0.71338606911949],"aabb_xy":[[0.5099357618416334,-0.6802099187517754],[0.5455227757114662,-0.64461042756018]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.33573251922835845,-1.733814606175367,0.71338606911949],"aabb_xy":[[0.26573251741961307,-1.7551683749395544],[0.40573252103710394,-1.7124608374111796]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.6292174019414718,-0.3404305513005479,0.71338606911949],"aabb_xy":[[0.5652174033548993,-0.3874375147000566],[0.6932174005280443,-0.2934235879010392]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.040934534470093986,-2.5425898915622165,0.71338606911949],"aabb_xy":[[-0.05914035813134167,-2.5536152921442077],[-0.022728710808846316,-2.5315644909802244]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[0.6541951721084005,1.1499851422729694,0.71338606911949],"aabb_xy":[[0.5901951688897628,1.103262030373961],[0.7181951753270385,1.1967082541719778]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.3719237743901135,0.1141440412713286,0.71338606911949],"aabb_xy":[[-0.39438854436151854,0.0916440403924681],[-0.3494590044187083,0.1366440421501891]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[0.5342066251358342,-2.1949004573672974,0.71338606911949],"aabb_xy":[[0.4792066269340893,-2.235422423993735],[0.5892066233375789,-2.15437849074086]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_27","position":[-0.035864791616029734,-2.3662220539314727,0.71338606911949],"aabb_xy":[[-0.07804920577686048,-2.4302220542086843],[0.006319622544801,-2.302222053654262]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864877349082569,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7900.png","name":"7900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7900.png","name":"7900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5167.png","name":"5167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1287.png","name":"1287"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3128.png","name":"3128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3593.png","name":"3593"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":649.4696355188792,"rotation_z_degrees":62.493013347707034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004248764191477555,0.011567602993835507,-0.01977899269960259]},{"name":"camera_2","offset_m":[0.013380816665510092,0.017718846167644336,0.003737418021174811]},{"name":"camera_3","offset_m":[0.011936064284964822,0.0021289275776813846,0.006495408926457422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009917883718768047,0.0006959267280037839,-0.00020706947428831548],"end_effector_yaw_offset_degrees":-0.21320158290859914},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.250753619654534e-05,0.00160208612583497,-0.0019413820069982038],"end_effector_yaw_offset_degrees":0.7941905142807291},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012421141970518903,-0.00051254602793585,0.0013508700408337011],"end_effector_yaw_offset_degrees":0.9733287864007938}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014355895134649053,-0.003635392361050608],"position_m":[0.3547355895134649,0.2137646076389494,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004086064668530577,0.0009816190042316554],"position_m":[0.26701393533146944,-0.33731838099576833,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004520614726267463,-0.0041576665941020765],"position_m":[0.3062206147262675,0.373142333405898,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010210481577746311,0.004379294302876826],"position_m":[0.35842104815777465,0.06907929430287682,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da26a8c3708bf0a40e956baa12994a31ada3bf30430466e11e35c714e39439cc","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7900/tex_ceiling_textures_3593/tex_floor_textures_3128/tex_table_textures_5167/tex_wall_textures_1287","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":63849544308972796,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":63849544308972796,"visual_seed":63849544308972796,"scene_id":"lab_003","finished_at":"2026-09-04T04:00:07"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T04:00:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.35313783568720736,0.1288894757585335,0.71338606911949],"aabb_xy":[[-0.36193989099618,0.1210781496036044],[-0.3443357803782346,0.13670080191346254]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.4412070156873147,-1.1673200243841724,0.71338606911949],"aabb_xy":[[0.4294388288926572,-1.252320024289394],[0.45297520248197226,-1.0823200244789508]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.6044111431310404,1.6065043198684852,0.71338606911949],"aabb_xy":[[-0.6153169192186031,1.526504323469656],[-0.5935053670434777,1.6865043162673143]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.2672581613168776,-1.8015820703223921,0.71338606911949],"aabb_xy":[[-0.2897718531403347,-1.8715820709234],[-0.24474446949342032,-1.7315820697213848]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.33391830380566645,1.0948306313166336,0.71338606911949],"aabb_xy":[[-0.37141830409784127,1.09078915591603],[-0.29641830351349163,1.0988721067172371]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.5008837760655668,-1.6241800553947927,0.71338606911949],"aabb_xy":[[-0.5379178854936264,-1.658557262728502],[-0.46384966663750693,-1.589802848061083]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.6109494886620017,0.7828608077853705,0.71338606911949],"aabb_xy":[[0.5659569019435512,0.7378608085109217],[0.655942075380452,0.8278608070598192]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.4747825590722614,0.654201494867503,0.71338606911949],"aabb_xy":[[0.4667562884416355,0.6454499998901505],[0.4828088297028875,0.6629529898448557]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.3729739047917098,1.7025412484851281,0.71338606911949],"aabb_xy":[[0.3179739056151203,1.6475515737101705],[0.42797390396829926,1.7575309232600858]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.5298839155080741,-0.6143422157393459,0.71338606911949],"aabb_xy":[[0.5217562273147609,-0.6232558241500535],[0.5380116037013873,-0.6054286073286382]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.6289161701677608,-1.616810115152854,0.71338606911949],"aabb_xy":[[0.57392391953225,-1.671810116896167],[0.6839084208032719,-1.5618101134095415]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.3763961256138828,-1.17530908518827,0.71338606911949],"aabb_xy":[[0.36676448939345313,-1.1849463979679786],[0.38602776183431237,-1.1656717724085608]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.04623137012497991,1.3645380255445123,0.71338606911949],"aabb_xy":[[0.023731370114831618,1.350441805904909],[0.0687313701351282,1.3786342451841156]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.4055219471900174,-1.7224323895344231,0.71338606911949],"aabb_xy":[[-0.4233154541249339,-1.7402321351302208],[-0.387728440255101,-1.7046326439386255]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[-0.35934700362766736,-0.5107016876309718,0.71338606911949],"aabb_xy":[[-0.42334700091331606,-0.5522084065838156],[-0.29534700634201877,-0.4691949686781277]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.5344665034425763,0.8204531277593774,0.71338606911949],"aabb_xy":[[-0.5719665039399345,0.816484444211259],[-0.49696650294521805,0.8244218113074958]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.4709695113691031,1.3770932211412146,0.71338606911949],"aabb_xy":[[-0.4886451419577014,1.3594130048618116],[-0.45329388078050475,1.394773437420617]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.08725191474161864,-0.8217044188040106,0.71338606911949],"aabb_xy":[[-0.1772519144647928,-0.8447777713391904],[0.0027480849815555426,-0.7986310662688307]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[-0.144767908458018,-0.3368178551821659,0.71338606911949],"aabb_xy":[[-0.2047679083045848,-0.3936364773752046],[-0.08476790861145123,-0.2799992329891272]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.06922695727551553,0.7872042059741444,0.71338606911949],"aabb_xy":[[0.057294222913687465,0.774822053166285],[0.0811596916373436,0.7995863587820038]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.5351038286415659,0.3853191392007278,0.71338606911949],"aabb_xy":[[-0.615103826622351,0.37771759823887585],[-0.4551038306607809,0.39292068016257975]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.4079740331746023,0.9179809694855976,0.71338606911949],"aabb_xy":[[-0.41874700709597,0.8829809712665587],[-0.39720105925323446,0.9529809677046367]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.3174739815197673,-1.1608843485300169,0.71338606911949],"aabb_xy":[[-0.3626452993679363,-1.2248843456745555],[-0.2723026636715984,-1.0968843513854787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860647838508827,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3804.png","name":"3804"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3804.png","name":"3804"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2460.png","name":"2460"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4169.png","name":"4169"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4071.png","name":"4071"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":700.1815598746266,"rotation_z_degrees":60.34021849764211,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006007913620372833,0.010582288656918376,-0.01868130311389255]},{"name":"camera_2","offset_m":[0.003325374443794854,0.011931165709598016,0.0015519741774477798]},{"name":"camera_3","offset_m":[-0.005796782327849944,0.00488076501215115,0.012407859076268863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001663233284208471,-0.0012446254631370145,0.00023257815357263746],"end_effector_yaw_offset_degrees":-0.6937255463332725},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005817412058754636,-0.000640828891821105,-7.570650978247083e-05],"end_effector_yaw_offset_degrees":0.7973124788350769},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011926960259463172,-0.0019493483092906368,-0.001486024331361334],"end_effector_yaw_offset_degrees":-0.48213562258502907}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001549748865984875,0.0028092960032723],"position_m":[0.35484974886598486,0.2202092960032723,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006362584511464854,-0.0035942014515726152],"position_m":[0.2717362584511465,-0.3418942014515726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006092316152099663,-0.0031598538822807543],"position_m":[0.30230923161521,0.3741401461177193,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00427298901920292,0.0016319298630576738],"position_m":[0.3531270109807971,0.06633192986305766,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"313c01f5e0a78097bac77f6a8a131c0c77e77609f87315cb8a06eeaef982b83d","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3804/tex_ceiling_textures_4071/tex_floor_textures_4169/tex_table_textures_2460/tex_wall_textures_5031","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8529082063874612636,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8529082063874612636,"visual_seed":8529082063874612636,"scene_id":"lab_003","finished_at":"2026-09-04T04:03:25"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T04:03:30","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.3989445378662322,-0.7187375068231865,0.71338606911949],"aabb_xy":[[-0.458944538727045,-0.7701639368296728],[-0.3389445370054194,-0.6673110768167]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.5216950894535248,0.0999000075517591,0.71338606911949],"aabb_xy":[[0.5058105961881997,0.08554706725293504],[0.53757958271885,0.11425294785058315]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.24801371140194112,-2.2734877200264125,0.71338606911949],"aabb_xy":[[-0.2766630437623573,-2.302133279303488],[-0.21936437904152484,-2.2448421607493363]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.11904101282467683,-0.36133412760965156,0.71338606911949],"aabb_xy":[[-0.1565410126417104,-0.36597233892079334],[-0.08154101300764326,-0.35669591629850966]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.3228173061424209,0.9529995128569495,0.71338606911949],"aabb_xy":[[-0.3678173076086498,0.907999655995469],[-0.2778173046761921,0.9979993697184303]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.3558505865226407,1.497339567178185,0.71338606911949],"aabb_xy":[[0.3387485085642725,1.4802327616469153],[0.37295266448100883,1.5144463727094548]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.023401753747763876,-1.242829520390199,0.71338606911949],"aabb_xy":[[-0.011598244522356027,-1.2499036480851868],[0.05840175201788378,-1.2357553926952105]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[-0.12059994399489005,1.0794551426460797,0.71338606911949],"aabb_xy":[[-0.13144042222140495,1.062268861355431],[-0.10975946576837513,1.0966414239367284]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.13361817540690746,-1.9809448745620215,0.71338606911949],"aabb_xy":[[-0.19761817568088572,-2.0310109747593095],[-0.06961817513292926,-1.9308787743647335]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.201596931537659,-0.60292992601736,0.71338606911949],"aabb_xy":[[0.17909693201395155,-0.6254258734679805],[0.22409693106136636,-0.580433978566739]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.5376436785929626,-0.4352918736898612,0.71338606911949],"aabb_xy":[[-0.5436102175336983,-0.4412530183492253],[-0.5316771396522268,-0.42933072903049724]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[-0.5376058723634134,-1.5172994566998592,0.71338606911949],"aabb_xy":[[-0.5876058710093346,-1.5672190003593216],[-0.4876058737174922,-1.4673799130403968]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.5066529469067366,-0.03415112101066109,0.71338606911949],"aabb_xy":[[-0.5107688970188091,-0.03826667604350658],[-0.5025369967946638,-0.030035565977815586]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.3154202191273967,-0.7842568872800295,0.71338606911949],"aabb_xy":[[0.2454202164908103,-0.804361752275895],[0.385420221763983,-0.764152022284164]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.5593518240741857,0.40208182646565893,0.71338606911949],"aabb_xy":[[0.5513255534435597,0.3933303314883064],[0.5673780947048117,0.4108333214430116]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.4958501728795959,-0.4569495559113528,0.71338606911949],"aabb_xy":[[0.4358501730330291,-0.5137681781043915],[0.5558501727261627,-0.40013093371831404]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.5235535951400687,-1.758364081196783,0.71338606911949],"aabb_xy":[[-0.5460672869635259,-1.8283640817977904],[-0.5010399033166115,-1.6883640805957754]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.12001898474895079,-1.0428832831050119,0.71338606911949],"aabb_xy":[[0.1151753899877208,-1.0477349355839962],[0.12486257951018075,-1.038031630626028]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.019103064779256385,-1.1214120410204869,0.71338606911949],"aabb_xy":[[-0.03578020077235189,-1.1381119649944171],[-0.0024259287861608803,-1.1047121170465566]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.3201486335686663,-1.5035904602606471,0.71338606911949],"aabb_xy":[[0.3095811539105673,-1.5141354903736557],[0.3307161132267653,-1.4930454301476386]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.6135751740817561,1.336372817042919,0.71338606911949],"aabb_xy":[[0.5495751717389545,1.2914319657987865],[0.6775751764245577,1.3813136682870515]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.3956643012084955,-1.8586644738976372,0.71338606911949],"aabb_xy":[[-0.4075970355703235,-1.8710466267054964],[-0.38373156684666737,-1.8462823210897776]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.18594265476095484,-2.4811240680750295,0.71338606911949],"aabb_xy":[[-0.26594265341784085,-2.4956289269992924],[-0.10594265610406886,-2.4666192091507666]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.10355197129161053,1.7277828866680003,0.71338606911949],"aabb_xy":[[0.0535519718514149,1.677814962183684],[0.15355197073180615,1.7777508111523166]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.36423150338522303,-1.150051282479111,0.71338606911949],"aabb_xy":[[0.3267315030369952,-1.1618426780601943],[0.40173150373345073,-1.1382598868980272]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[0.2951252704631874,1.0379072392015622,0.71338606911949],"aabb_xy":[[0.20512526678626908,0.9764748326244574],[0.3851252741401054,1.0993396457786662]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.4742497496422631,1.537574710114931,0.71338606911949],"aabb_xy":[[0.46109850367097377,1.512574710358245],[0.4874009956135525,1.562574709871618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871830471868435,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2351.png","name":"2351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7939.png","name":"7939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8595.png","name":"8595"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":568.8676718933192,"rotation_z_degrees":91.80894764112175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028294080576159175,-0.0005711728293377669,0.001957325313471047]},{"name":"camera_2","offset_m":[0.015677970419381116,-0.017081414263023176,-0.0034824383437867257]},{"name":"camera_3","offset_m":[0.0004630882173803086,-0.011235693567488547,0.006501813880175334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015523179945975628,0.00018868647111449635,-7.775328071979492e-05],"end_effector_yaw_offset_degrees":0.035721387468632626},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014710038153313545,-0.0015065332785394784,-0.0013290310963681665],"end_effector_yaw_offset_degrees":0.7562976415494884},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015195495684452184,-0.0014856493728394207,-0.00019001257390436114],"end_effector_yaw_offset_degrees":-0.4498896357928277}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00043609035960415904,-0.0016954385720976649],"position_m":[0.3537360903596042,0.21570456142790234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021039158045919578,0.00011915720351202055],"position_m":[0.27320391580459197,-0.33818084279648797,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006564938281084258,0.00300063375223555],"position_m":[0.3023564938281085,0.38030063375223555,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00470922608791093,-0.003007929063040996],"position_m":[0.3621092260879109,0.061692070936959,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0686c70ab7cdd35738d579ec310c06c98f2d8e565167aebeeb65a7a6f448eae6","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5557/tex_ceiling_textures_8595/tex_floor_textures_7939/tex_table_textures_2351/tex_wall_textures_2890","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3990245776579798153,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3990245776579798153,"visual_seed":3990245776579798153,"scene_id":"lab_003","finished_at":"2026-09-04T04:06:49"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T04:06:52","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.5576984767728381,-0.5126569686510085,0.71338606911949],"aabb_xy":[[0.5077254112403228,-0.5626569684635415],[0.6076715423053537,-0.46265696883847574]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.08261848676921701,-0.29878881033596416,0.71338606911949],"aabb_xy":[[-0.10513217859267421,-0.3687888109369717],[-0.06010479494575982,-0.22878880973495663]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.04899816002531965,-1.8371058266231233,0.71338606911949],"aabb_xy":[[-0.05704151995127482,-1.9221058277184895],[-0.040954800099364475,-1.7521058255277566]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[0.36123369395874527,-0.7469903001942328,0.71338606911949],"aabb_xy":[[0.28123369368513823,-0.8199398480199495],[0.4412336942323522,-0.674040752368516]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.4544596128888483,-1.8975291418910685,0.71338606911949],"aabb_xy":[[0.3904596164932752,-1.9614924303098018],[0.5184596092844214,-1.8335658534723347]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.29813560848550724,0.7048353977419,0.71338606911949],"aabb_xy":[[-0.30539685605591466,0.6920483874783905],[-0.2908743609150998,0.7176224080054094]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.4306779373946209,-2.168607784595863,0.71338606911949],"aabb_xy":[[-0.44224691814155753,-2.193607784712795],[-0.4191089566476844,-2.1436077844789314]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.4371404117595929,-0.5419340087978939,0.71338606911949],"aabb_xy":[[-0.44960776986932854,-0.5543993334312174],[-0.42467305364985725,-0.5294686841645704]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.2993882904509455,-1.6345581252818118,0.71338606911949],"aabb_xy":[[0.235388291864373,-1.6815650886813203],[0.3633882890375179,-1.5875511618823028]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.633745370589779,-2.1041926194608935,0.71338606911949],"aabb_xy":[[-0.6837453715403117,-2.1357417664644145],[-0.5837453696392461,-2.0726434724573717]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.476704072340252,-0.27754117777969034,0.71338606911949],"aabb_xy":[[0.3967040753772128,-0.3546168194234638],[0.5567040693032912,-0.2004655361359169]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.32288689820595684,-1.3308409161964843,0.71338606911949],"aabb_xy":[[-0.3310145863992701,-1.339754524607192],[-0.3147592100126437,-1.3219273077857765]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.19601113782200996,-1.8825020429724917,0.71338606911949],"aabb_xy":[[-0.21156690723227525,-1.898052476216899],[-0.1804553684117447,-1.8669516097280847]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.44089695884475577,0.4266179214902932,0.71338606911949],"aabb_xy":[[-0.4583969590898051,0.4091181336507263],[-0.42339695859970633,0.44411770932986]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[-0.153488265183085,-2.3111819945504646,0.71338606911949],"aabb_xy":[[-0.22348826678536451,-2.324614787752122],[-0.08348826358080555,-2.297749201348807]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[-0.36703863535855846,-0.327862663282005,0.71338606911949],"aabb_xy":[[-0.44703863862257154,-0.3414226955909183],[-0.2870386320945453,-0.31430263097309163]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.3651607744956462,1.1699763823912428,0.71338606911949],"aabb_xy":[[-0.4351607763043916,1.1486226136270556],[-0.2951607726869007,1.1913301511554304]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.6386027786900048,-0.9644515803996527,0.71338606911949],"aabb_xy":[[0.6208092717550884,-0.9822513259954503],[0.6563962856249212,-0.946651834803855]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.4057796446096202,0.1350993065387187,0.71338606911949],"aabb_xy":[[-0.440779645961102,0.11473957058189789],[-0.3707796432581385,0.15545904249553955]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.10497459996045466,0.6267176990286596,0.71338606911949],"aabb_xy":[[-0.11505630703902814,0.5467177011365449],[-0.09489289288188119,0.7067176969207742]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.4389550459034959,0.6880785893432737,0.71338606911949],"aabb_xy":[[0.4139550467378627,0.6811263436379171],[0.46395504506912894,0.6950308350486303]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.041207315138368616,-1.5386874963087176,0.71338606911949],"aabb_xy":[[-0.1012073157343848,-1.593499968853941],[0.018792685457647555,-1.4838750237634941]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.3577413641084103,-2.3100712327981574,0.71338606911949],"aabb_xy":[[-0.4277413667449966,-2.330176097794023],[-0.2877413614718239,-2.289966367802292]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.31355922045192247,1.4837753734357935,0.71338606911949],"aabb_xy":[[-0.33123485104052075,1.4660951571563907],[-0.2958835898633241,1.5014555897151962]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.4937700926425844,-1.8645069146229223,0.71338606911949],"aabb_xy":[[-0.5312700934345798,-1.8708747555811125],[-0.4562700918505889,-1.858139073664732]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.3389950532113113,-2.4196484637074294,0.71338606911949],"aabb_xy":[[0.3165302832399062,-2.4421484645862894],[0.3614598231827164,-2.3971484628285684]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[-0.19487553835850624,1.3808173607103615,0.71338606911949],"aabb_xy":[[-0.21308136201975394,1.3697919601283701],[-0.1766697146972586,1.3918427612923534]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.5287995258822082,-1.1675252705176258,0.71338606911949],"aabb_xy":[[0.4738072752466973,-1.2225252722609388],[0.5837917765177192,-1.1125252687743132]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.6505216240408029,0.7895932434909505,0.71338606911949],"aabb_xy":[[0.5805216276308409,0.7691553078392686],[0.7205216204507645,0.810031179142632]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[0.2334319412717295,0.7546717098793612,0.71338606911949],"aabb_xy":[[0.22739492827106483,0.748645008810413],[0.23946895427239429,0.7606984109483095]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[-0.23509758184317897,0.7969482530244725,0.71338606911949],"aabb_xy":[[-0.3050975839746085,0.7741862873987767],[-0.16509757971174943,0.819710218650168]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_31","position":[-0.057202840476387795,-2.44643701744561,0.71338606911949],"aabb_xy":[[-0.08834975931997091,-2.5164370161324165],[-0.026055921632804672,-2.376437018758802]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_32","position":[-0.4957744068223369,-0.7667250115418627,0.71338606911949],"aabb_xy":[[-0.503888061495714,-0.7748308279958918],[-0.48766075214895976,-0.7586191950878336]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_33","position":[-0.2503674631733807,-0.9696942414690382,0.71338606911949],"aabb_xy":[[-0.2803350200832064,-0.9996942417669239],[-0.22039990626355505,-0.9396942411711524]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_34","position":[-0.046732961571806175,-0.9901941224704747,0.71338606911949],"aabb_xy":[[-0.057505935493173954,-1.0251941206895139],[-0.035959987650438396,-0.9551941242514359]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853374670834333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6334.png","name":"6334"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6334.png","name":"6334"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/310.png","name":"310"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5035.png","name":"5035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4597.png","name":"4597"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":695.481686916093,"rotation_z_degrees":287.936388353736,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01490818341801809,-0.0055366895390835235,-0.018108312803199578]},{"name":"camera_2","offset_m":[0.0142320512381769,-0.01779802622135239,-0.010146430160191885]},{"name":"camera_3","offset_m":[0.019402903195835656,0.01590515487322718,-0.005808135787108735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017968862464547556,-0.00029174128098059435,0.0004342064365240226],"end_effector_yaw_offset_degrees":-0.5887825720523681},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00012318149032705694,-0.0014449738013968092,0.0005820988172138514],"end_effector_yaw_offset_degrees":0.643450154960792},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018799734476129706,0.00013155290102050306,-0.0010036452285785195],"end_effector_yaw_offset_degrees":0.20509969318228305}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004537499419739054,-0.003989899467770025],"position_m":[0.3578374994197391,0.21341010053222997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003285266730882819,0.004232550112379289],"position_m":[0.2678147332691172,-0.3340674498876207,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011764622094888886,-0.001135155095428021],"position_m":[0.30287646220948894,0.376164844904572,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001215028230512216,0.002705293422633896],"position_m":[0.35618497176948777,0.06740529342263389,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95a57c340411ed69c5c63127adc43dd8558cfd5664dd5160069a536b4e42387b","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6334/tex_ceiling_textures_4597/tex_floor_textures_5035/tex_table_textures_4332/tex_wall_textures_310","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4912667725496082223,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4912667725496082223,"visual_seed":4912667725496082223,"scene_id":"lab_003","finished_at":"2026-09-04T04:09:51"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T04:09:54","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.3953181814058426,-0.702175163709772,0.71338606911949],"aabb_xy":[[-0.4104810543827797,-0.7173406210048907],[-0.38015530842890555,-0.6870097064146532]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.6078728589568768,-0.37663096824772335,0.71338606911949],"aabb_xy":[[-0.687872860387004,-0.45614812326033277],[-0.5278728575267496,-0.2971138132351138]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[0.39660604816294165,-1.8738108745531505,0.71338606911949],"aabb_xy":[[0.31661222458438354,-1.9538108771459923],[0.4765998717415,-1.7938108719603092]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[-0.13273690478644784,1.454931351153761,0.71338606911949],"aabb_xy":[[-0.1453396039235243,1.4423359549288954],[-0.12013420564937138,1.4675267473786264]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.1740160169484941,-0.522004853266262,0.71338606911949],"aabb_xy":[[-0.21526482797840882,-0.5770048527784793],[-0.13276720591857935,-0.4670048537540445]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.3943910815171916,1.155453837602646,0.71338606911949],"aabb_xy":[[0.3493984947987412,1.110453838328197],[0.439383668235642,1.2004538368770945]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.5427549854291884,-2.362825054169225,0.71338606911949],"aabb_xy":[[0.48512451654191746,-2.422825053095935],[0.6003854543164592,-2.302825055242514]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.3179857404974915,-1.3121423991043668,0.71338606911949],"aabb_xy":[[0.30334233494345847,-1.3268011187611508],[0.33262914605152444,-1.2974836794475824]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.06252941480994068,1.4651162723560893,0.71338606911949],"aabb_xy":[[0.0025294139491278535,1.4136898423496027],[0.12252941567075346,1.5165427023625755]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.6337964035024861,0.05910216789209599,0.71338606911949],"aabb_xy":[[0.6293657741476459,0.0536537961574134],[0.6382270328573263,0.06455053962677859]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.23876261530577164,-0.23416940641962913,0.71338606911949],"aabb_xy":[[-0.30876261869733357,-0.26948518012306],[-0.1687626119142096,-0.1988536327161983]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.2632997896062512,0.49377907019634026,0.71338606911949],"aabb_xy":[[-0.2709240576964295,0.48614584665979654],[-0.25567552151607303,0.501412293732884]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.14208773195585722,-1.542986250757424,0.71338606911949],"aabb_xy":[[0.06208773494160924,-1.5631208024308352],[0.2220877289701052,-1.5228516990840126]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.3570090080142486,0.10515406903627111,0.71338606911949],"aabb_xy":[[-0.36190830032081206,0.07747714973370233],[-0.35210971570768507,0.13283098833883988]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.6907505447610771,0.86965650116487,0.71338606911949],"aabb_xy":[[0.6732038498449583,0.8321564996006189],[0.7082972396771962,0.9071565027291214]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.40289291354352064,-0.9386247815076707,0.71338606911949],"aabb_xy":[[0.3803792217200635,-1.008624782108678],[0.4254066053669779,-0.868624780906663]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.1330872499183472,-1.425304257256335,0.71338606911949],"aabb_xy":[[0.12582600234793978,-1.4380912675198447],[0.1403484974887546,-1.4125172469928258]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.623004739056113,-1.464096347914768,0.71338606911949],"aabb_xy":[[-0.6283423147221177,-1.4890963488439077],[-0.6176671633901085,-1.4390963469856282]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.6939853911293556,-2.060889893689894,0.71338606911949],"aabb_xy":[[0.6865729355879671,-2.066741104111522],[0.701397846670744,-2.055038683268266]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.09161470499636848,0.7826147200752289,0.71338606911949],"aabb_xy":[[-0.1161609206191192,0.7523658235261917],[-0.06706848937361776,0.8128636166242659]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.12357725310923762,-2.4186826040769085,0.71338606911949],"aabb_xy":[[0.06858500247372669,-2.4736826058202213],[0.1785695037447486,-2.3636826023335957]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.571622728113347,0.49436466463763695,0.71338606911949],"aabb_xy":[[0.5539470975247486,0.47668444835823415],[0.5892983587019452,0.5120448809170396]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.13368151562729735,1.101445943620516,0.71338606911949],"aabb_xy":[[-0.1686815155233162,1.093071708108576],[-0.09868151573127847,1.109820179132456]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[-0.026837320821651245,-1.3060113493238272,0.71338606911949],"aabb_xy":[[-0.037404800479750255,-1.3165563794368358],[-0.01626984116355223,-1.2954663192108187]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.4698197469462808,1.4390280801959876,0.71338606911949],"aabb_xy":[[0.379819750445409,1.3931164377775294],[0.5598197434471525,1.4849397226144458]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.4635370517085159,-0.5463427033015837,0.71338606911949],"aabb_xy":[[-0.5010370528933086,-0.550760925997644],[-0.4260370505237231,-0.541924480605523]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.4496257917164006,-1.288653287768743,0.71338606911949],"aabb_xy":[[0.3996257913558345,-1.3386332749783458],[0.4996257920769666,-1.23867330055914]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[0.5192933059253475,-0.013825670164751447,0.71338606911949],"aabb_xy":[[0.4692933072794263,-0.06374521382421383],[0.5692933045712687,0.03609387349471094]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[-0.13079404678447537,1.3328724998273946,0.71338606911949],"aabb_xy":[[-0.13882031741510137,1.324121004850042],[-0.12276777615384937,1.3416239948047473]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[-0.57883916072276,-2.2893089571138248,0.71338606911949],"aabb_xy":[[-0.5963391609820967,-2.303400499302598],[-0.5613391604634235,-2.2752174149250526]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.16555689776468996,1.1810689754876735,0.71338606911949],"aabb_xy":[[0.15763361752594165,1.1585689752496702],[0.17348017800343832,1.203568975725677]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_31","position":[-0.4083286901831073,-1.2962864019357632,0.71338606911949],"aabb_xy":[[-0.45832352311104885,-1.346286400831007],[-0.35833385725516564,-1.2462864030405199]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_32","position":[-0.06453454180873774,-2.2963696762223886,0.71338606911949],"aabb_xy":[[-0.10186581833398037,-2.331022731017241],[-0.02720326528349512,-2.2617166214275364]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_33","position":[-0.10977915723122689,-1.483828298150865,0.71338606911949],"aabb_xy":[[-0.18977915750483385,-1.5567778459765815],[-0.029779156957619898,-1.410878750325148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867579055856508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5599.png","name":"5599"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5599.png","name":"5599"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2054.png","name":"2054"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9599.png","name":"9599"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8380.png","name":"8380"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7948.png","name":"7948"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.7637484409614,"rotation_z_degrees":56.6628352865362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007277608316373429,0.006418562822210351,-0.0198701770483446]},{"name":"camera_2","offset_m":[0.018277899774172168,0.004443508411472213,0.016603294568407017]},{"name":"camera_3","offset_m":[0.016079399298549627,0.0002720250932793794,-0.013807522884935284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.199561790843882e-05,-0.0008169910230205204,-0.0016031260071347187],"end_effector_yaw_offset_degrees":0.9162326344215246},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011570806069405438,0.00032297455487680137,-0.001914041244062207],"end_effector_yaw_offset_degrees":0.11786482453077873},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008839257599207407,0.0015403861057361155,0.0012338553035073736],"end_effector_yaw_offset_degrees":-0.6199715851411336}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020530058350810665,-0.0008214381214133549],"position_m":[0.35124699416491895,0.21657856187858665,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010457088961073795,-0.004272499098930349],"position_m":[0.2721457088961074,-0.34257249909893034,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002786579367919413,-0.004817973654697303],"position_m":[0.2989134206320806,0.3724820263453027,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009524958677662367,-0.0027583529828513554],"position_m":[0.35835249586776624,0.06194164701714864,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c3381825d1019f947c6c8a5b49351cb83d1e7afad0fab17921c4ad2fb20e257","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5599/tex_ceiling_textures_7948/tex_floor_textures_8380/tex_table_textures_2054/tex_wall_textures_9599","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4976955573141145782,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4976955573141145782,"visual_seed":4976955573141145782,"scene_id":"lab_003","finished_at":"2026-09-04T04:13:24"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T04:13:28","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.4102565948581136,-2.448024916648003,0.71338606911949],"aabb_xy":[[0.37579424745997175,-2.482518799045825],[0.44471894225625536,-2.4135310342501795]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.6276636267547988,0.6894720164231471,0.71338606911949],"aabb_xy":[[0.5376636281603289,0.673221430109726],[0.7176636253492688,0.7057226027365681]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.4249432362376304,0.6136318556086722,0.71338606911949],"aabb_xy":[[0.4020275233525805,0.5907275584722488],[0.4478589491226803,0.6365361527450958]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.3496973600180997,-1.9320669662059013,0.71338606911949],"aabb_xy":[[0.2846973589121564,-1.9570323392740296],[0.414697361124043,-1.907101593137773]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.008978599388229314,-2.518313251770748,0.71338606911949],"aabb_xy":[[-0.0789786009905088,-2.5317460449724054],[0.06102140221405017,-2.5048804585690903]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.12123747819351416,1.396064590308118,0.71338606911949],"aabb_xy":[[-0.12566810754835434,1.3906162185734356],[-0.116806848838674,1.4015129620428006]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.23665958345671378,-1.3335891710133374,0.71338606911949],"aabb_xy":[[-0.2844657510704824,-1.3985891737203962],[-0.18885341584294507,-1.2685891683062782]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[-0.001585805414534014,-0.7675504770881758,0.71338606911949],"aabb_xy":[[-0.015032332048577346,-0.781020328741267],[0.011860721219509318,-0.7540806254350846]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.60927176115039,-1.2620062305210396,0.71338606911949],"aabb_xy":[[0.5542980391140571,-1.3170062300852727],[0.6642454831867228,-1.2070062309568064]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.04301434770573742,-1.631982917837881,0.71338606911949],"aabb_xy":[[-0.020981349689359163,-1.6959829161385895],[0.107010045100834,-1.5679829195371722]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.11053296931318746,-2.2904839615934436,0.71338606911949],"aabb_xy":[[0.07623605829544682,-2.3247808478033845],[0.14482988033092808,-2.256187075383502]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.030454141502946896,0.19684028410159726,0.71338606911949],"aabb_xy":[[-0.04509754705697988,0.18218156444481298],[-0.01581073594891391,0.21149900375838154]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.12451673202269342,1.323493062883749,0.71338606911949],"aabb_xy":[[0.0870167318508215,1.2907923275008417],[0.16201673219456536,1.356193798266656]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.4651152946219188,-2.197376212141145,0.71338606911949],"aabb_xy":[[0.4612014214264963,-2.2061252275477017],[0.46902916781734133,-2.188627196734588]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.25863167481712346,1.2956353563505991,0.71338606911949],"aabb_xy":[[0.22300251891716372,1.260002689593746],[0.2942608307170832,1.3312680231074518]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.6478795056324657,1.1201409453937647,0.71338606911949],"aabb_xy":[[-0.652778797939029,1.092464026091196],[-0.642980213325902,1.1478178646963335]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.533939507368075,1.3112143864499273,0.71338606911949],"aabb_xy":[[-0.5643376184672185,1.2808074844482575],[-0.5035413962689314,1.3416212884515966]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.4075614386637179,1.8058487950670528,0.71338606911949],"aabb_xy":[[-0.4450614386074843,1.797555705032216],[-0.3700614387199515,1.8141418851018891]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.5580319177449906,-1.4773336476158483,0.71338606911949],"aabb_xy":[[0.5080531092346747,-1.527333647621567],[0.6080107262553065,-1.4273336476101295]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.12615459785667926,-2.2798162685279255,0.71338606911949],"aabb_xy":[[-0.18017019413857926,-2.3438162714201827],[-0.07213900157477926,-2.2158162656356684]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.18369823039507838,-1.8259958188781236,0.71338606911949],"aabb_xy":[[-0.24369823125589116,-1.8774222488846095],[-0.12369822953426556,-1.7745693888716367]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.10423802110866442,0.7323098785571638,0.71338606911949],"aabb_xy":[[0.04023801905893243,0.6922153954678558],[0.16823802315839642,0.7724043616464717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68796142222154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7078.png","name":"7078"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7078.png","name":"7078"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2409.png","name":"2409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2880.png","name":"2880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9035.png","name":"9035"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":584.1545726233982,"rotation_z_degrees":271.61359546072737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006783265777915864,-0.004923599717427885,0.00821415222772956]},{"name":"camera_2","offset_m":[0.003769784000896257,0.012532166031932381,0.000322010892802517]},{"name":"camera_3","offset_m":[-0.009193434046420325,0.012706262258557092,0.008777247277907595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009381643549510751,0.001250177862626863,0.0017008805168382498],"end_effector_yaw_offset_degrees":0.24900287575446223},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005082067039628019,-0.0013381466877951552,0.0014567208238321018],"end_effector_yaw_offset_degrees":0.8992314380162816},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013209987597339423,-0.0013909768874559095,-0.0002586077441074188],"end_effector_yaw_offset_degrees":-0.199724192174485}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005064121108041934,0.0021348082529700826],"position_m":[0.3538064121108042,0.2195348082529701,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002458071109300802,-0.004230459807265424],"position_m":[0.2735580711093008,-0.34253045980726543,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002637657271682743,-0.002525505373251732],"position_m":[0.2990623427283173,0.3747744946267483,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00257620042007484,0.004196205665263744],"position_m":[0.35997620042007483,0.06889620566526374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9d38875342095f840c421fde49760e5cf7488250f1b0903188a5ea4ff4c3d677","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7078/tex_ceiling_textures_9035/tex_floor_textures_2880/tex_table_textures_3711/tex_wall_textures_2409","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2843313432848640527,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2843313432848640527,"visual_seed":2843313432848640527,"scene_id":"lab_003","finished_at":"2026-09-04T04:16:35"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T04:16:39","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[0.5960618359634349,1.394533647703068,0.71338606911949],"aabb_xy":[[0.591218241202205,1.389681995224084],[0.600905430724665,1.3993853001820522]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[-0.09784759759468287,0.781279894372779,0.71338606911949],"aabb_xy":[[-0.1528475972164287,0.7262962015853064],[-0.04284759797293704,0.8362635871602518]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.19370173692862536,1.3235996364758882,0.71338606911949],"aabb_xy":[[-0.21870173609425847,1.3166473907705318],[-0.16870173776299224,1.330551882181245]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.5563550487942632,0.8115590122831744,0.71338606911949],"aabb_xy":[[-0.5785275757709141,0.7893833451270511],[-0.5341825218176124,0.8337346794392975]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.46938032370501864,0.07936073997882742,0.71338606911949],"aabb_xy":[[-0.47818237901399124,0.07154941382389833],[-0.4605782683960458,0.08717206613375648]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.19967162673956834,1.18433213388807,0.71338606911949],"aabb_xy":[[-0.24965457692704765,1.134332134245509],[-0.14968867655208898,1.2343321335306299]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.028181213100068825,1.6301837533348418,0.71338606911949],"aabb_xy":[[-0.035818787160401974,1.5851749539819138],[0.09218121336053962,1.6751925526877698]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.32937420984940946,-1.616212753355641,0.71338606911949],"aabb_xy":[[0.2793742112034883,-1.6661322970151031],[0.3793742084953307,-1.5662932096961784]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.48798324629924916,-1.142966640139926,0.71338606911949],"aabb_xy":[[-0.5529832489370428,-1.194446238839373],[-0.42298324366145573,-1.0914870414404791]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.2140933098837432,-1.2750158676911887,0.71338606911949],"aabb_xy":[[-0.2486843927377884,-1.3400158679762195],[-0.17950222702969795,-1.2100158674061574]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.6046774691534579,-2.378497674131324,0.71338606911949],"aabb_xy":[[-0.6223103047469853,-2.396120620146947],[-0.5870446335599302,-2.360874728115701]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.6402038171791107,-1.4511746088231043,0.71338606911949],"aabb_xy":[[0.5902038168185445,-1.5011545960327073],[0.6902038175396766,-1.4011946216135014]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.5591565366804487,1.3224444619225149,0.71338606911949],"aabb_xy":[[-0.5966565368523206,1.2897437265396074],[-0.5216565365085767,1.3551451973054218]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.2711683019951087,-1.4653150607860517,0.71338606911949],"aabb_xy":[[-0.3054652130128493,-1.4996119469959928],[-0.23687139097736803,-1.4310181745761101]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.6859451723531398,-2.0403804977699758,0.71338606911949],"aabb_xy":[[0.6783209042629615,-2.0480137213065195],[0.693569440443318,-2.032747274233432]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.6218498120769282,1.1346514558040766,0.71338606911949],"aabb_xy":[[-0.6858498124544619,1.0849061889532643],[-0.5578498116993946,1.1843967226548888]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.47837411468986346,-1.9465733359241129,0.71338606911949],"aabb_xy":[[0.3983741175302881,-1.95812093688193],[0.5583741118494387,-1.9350257349662958]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.03623590188243686,-1.594894198044224,0.71338606911949],"aabb_xy":[[-0.013764099478450356,-1.6448721026196396],[0.08623590324332409,-1.5449162934688083]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.34261589358446043,-0.060788666192717944,0.71338606911949],"aabb_xy":[[-0.36716210920721115,-0.091037562741755],[-0.3180696779617097,-0.030539769643680877]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.06853273230129442,-1.9668316851599301,0.71338606911949],"aabb_xy":[[0.004532730893303748,-2.0186206366838544],[0.13253273370928506,-1.9150427336360054]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.5119672299970977,1.7403468844373182,0.71338606911949],"aabb_xy":[[0.4881310123564927,1.650346883628832],[0.5358034476377028,1.830346885245805]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.5154791090810684,0.33426709878459215,0.71338606911949],"aabb_xy":[[-0.5654791101002037,0.2978008830467642],[-0.46547910806193316,0.3707333145224201]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[0.5944827970832907,0.2112417088728229,0.71338606911949],"aabb_xy":[[0.5344827965754376,0.1543949751869016],[0.6544827975911435,0.2680884425587442]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.3765096549662002,-0.28143552584629905,0.71338606911949],"aabb_xy":[[-0.4140096561509929,-0.2858537485423595],[-0.3390096537814073,-0.2770173031502385]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.49057241640623417,-0.3968267769309528,0.71338606911949],"aabb_xy":[[0.4562561392316162,-0.44682677690413053],[0.5248886935808521,-0.3468267769577751]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[-0.22985069381750023,-2.054969736533942,0.71338606911949],"aabb_xy":[[-0.24026225249798394,-2.06031546986984],[-0.21943913513701652,-2.0496240031980433]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[0.2832023375055974,-1.4427543829724163,0.71338606911949],"aabb_xy":[[0.23320233806540175,-1.4927223074567324],[0.333202336945793,-1.3927864584880998]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[-0.009161478724626804,-2.409447080837459,0.71338606911949],"aabb_xy":[[-0.014743150358755562,-2.421947080655235],[-0.0035798070904980435,-2.3969470810196833]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[0.37922901059583825,1.7753931363660427,0.71338606911949],"aabb_xy":[[0.3417290107788047,1.7707549250549006],[0.4167290104128718,1.7800313476771843]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_29","position":[0.663042259782818,-1.267498625475165,0.71338606911949],"aabb_xy":[[0.6080422615810731,-1.3080205921016026],[0.7180422579845628,-1.2269766588487274]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[0.16743972215578007,1.2831678811394638,0.71338606911949],"aabb_xy":[[0.07743972273740915,1.2497923842952738],[0.25743972157415096,1.3165433779836533]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_31","position":[-0.6362593856388618,-0.7782715543034973,0.71338606911949],"aabb_xy":[[-0.6712593839089817,-0.7853456819984853],[-0.6012593873687418,-0.771197426608509]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810933114796116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/319.png","name":"319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/319.png","name":"319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8293.png","name":"8293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1325.png","name":"1325"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2804.png","name":"2804"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7798.png","name":"7798"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":597.0258790536615,"rotation_z_degrees":269.874802334406,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0039818584852728475,0.013929493719117819,-0.017532206224674163]},{"name":"camera_2","offset_m":[-0.00023665199647306817,0.004659081972793334,0.0176047097282245]},{"name":"camera_3","offset_m":[-0.006038787438960958,-0.007148457001183703,0.010537454687667026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00027294906387532276,0.0012830630683002826,0.00038173209743646696],"end_effector_yaw_offset_degrees":-0.4413697166067596},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008120530739741086,-0.0008926821686786779,-0.001843329388766085],"end_effector_yaw_offset_degrees":-0.2528028888949385},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011823446674377389,-0.0015860922362221253,0.0008715139679219847],"end_effector_yaw_offset_degrees":0.3181492778449819}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015521382588811407,-0.0002654791039503786],"position_m":[0.3517478617411189,0.21713452089604962,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011972767549783192,0.0032286983352587855],"position_m":[0.2699027232450217,-0.3350713016647412,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023029970801919718,-0.0038677807095353336],"position_m":[0.29939700291980803,0.3734322192904647,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00028752902342365615,-0.0026906340895337722],"position_m":[0.35768752902342366,0.06200936591046622,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8e76b2906199f4ec70158ed88a7529949174d72df6bb783dc54ce4492cd88b9","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_319/tex_ceiling_textures_7798/tex_floor_textures_2804/tex_table_textures_8293/tex_wall_textures_1325","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8501170447408439410,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8501170447408439410,"visual_seed":8501170447408439410,"scene_id":"lab_003","finished_at":"2026-09-04T04:19:32"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T04:19:35","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.325255571801953,-1.374137632465407,0.71338606911949],"aabb_xy":[[-0.38288604068922377,-1.4341376313921175],[-0.2676251029146821,-1.3141376335386963]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.19985231297538364,-0.7229335902243845,0.71338606911949],"aabb_xy":[[0.16485231378256535,-0.7339006362220469],[0.23485231216820188,-0.7119665442267217]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.5635302974323841,-0.9269990176189069,0.71338606911949],"aabb_xy":[[0.5260302967678053,-0.9426860756191291],[0.6010302980969627,-0.9113119596186847]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.28469747199577633,1.5151794711462032,0.71338606911949],"aabb_xy":[[0.23521705078181754,1.4511794732333516],[0.3341778932097351,1.5791794690590553]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.3077277545692338,-0.4250169191057167,0.71338606911949],"aabb_xy":[[-0.320958700103915,-0.438244338127716],[-0.2944968090345524,-0.4117895000837172]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.25826360610525695,-0.0791066573581527,0.71338606911949],"aabb_xy":[[-0.2628987212574903,-0.08297399243530135],[-0.2536284909530235,-0.07523932228100405]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.3806575512644919,-0.7796960279903493,0.71338606911949],"aabb_xy":[[-0.40283007824114275,-0.8018716951464723],[-0.3584850242878411,-0.7575203608342259]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.5755612186095505,-1.7438613846500157,0.71338606911949],"aabb_xy":[[0.5579283830160229,-1.7614843306656387],[0.593194054203078,-1.7262384386343927]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.1553111059892528,-2.3472052743010163,0.71338606911949],"aabb_xy":[[0.117811107413632,-2.3599415699645743],[0.1928111045648736,-2.3344689786374584]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.06832363050502022,-0.8890124461245392,0.71338606911949],"aabb_xy":[[-0.01667636818705444,-0.9209983095194181],[0.15332362919709486,-0.8570265827296604]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.49512672667092883,-1.1886173565464124,0.71338606911949],"aabb_xy":[[-0.5422561056727645,-1.252617357590814],[-0.44799734766909316,-1.12461735550201]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.21753235154482953,-1.4581967591924412,0.71338606911949],"aabb_xy":[[0.15353235514925645,-1.522160047611175],[0.2815323479404026,-1.3942334707737079]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[-0.4527400525030981,-2.3371130626440166,0.71338606911949],"aabb_xy":[[-0.4646727868649262,-2.3494952154518756],[-0.44080731814127005,-2.324730909836157]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.5438108346727375,-0.5883175922399999,0.71338606911949],"aabb_xy":[[-0.5493925063068663,-0.6008175920577753],[-0.5382291630386087,-0.5758175924222243]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.28935558770527336,-0.9636899091101081,0.71338606911949],"aabb_xy":[[0.2393555866861381,-1.000156124847936],[0.33935558872440863,-0.9272236933722802]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.21995956765254898,-1.9712275908371535,0.71338606911949],"aabb_xy":[[-0.2699326331850645,-2.021227590649687],[-0.16998650212003355,-1.9212275910246213]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.07728983452692506,1.6425748515589516,0.71338606911949],"aabb_xy":[[-0.1272898348874911,1.5925948643493484],[-0.02728983416635899,1.6925548387685543]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.4161623559216821,-2.2350654947521105,0.71338606911949],"aabb_xy":[[-0.4811623570276254,-2.2600308678202383],[-0.3511623548157388,-2.2101001216839817]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[-0.6157014556241578,0.14970833374739145,0.71338606911949],"aabb_xy":[[-0.6332014558834945,0.13561679155861886],[-0.5982014553648213,0.1637998759361641]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.5388107854833539,-2.2758467932790563,0.71338606911949],"aabb_xy":[[0.5286577699292043,-2.311916334851796],[0.5489638010375031,-2.2397772517063155]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.5910174350470474,-0.6867522651718578,0.71338606911949],"aabb_xy":[[0.5210174334447679,-0.7001850583735154],[0.6610174366493269,-0.6733194719702003]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[0.12748401005206733,1.506574254908649,0.71338606911949],"aabb_xy":[[0.08623519902215258,1.4515742553964313],[0.16873282108198204,1.5615742544208662]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.26758987526148575,0.7951559597221189,0.71338606911949],"aabb_xy":[[-0.3227150808910765,0.7351559582808317],[-0.21246466963189495,0.855155961163406]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.6358150244537881,1.2019515568085462,0.71338606911949],"aabb_xy":[[0.585815023169948,1.1519727024179238],[0.685815025737628,1.251930411199168]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.5923174807982051,-0.3926424406748974,0.71338606911949],"aabb_xy":[[-0.6563174810721835,-0.44270854087218536],[-0.528317480524227,-0.34257634047760943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887816716175849,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4240.png","name":"4240"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7101.png","name":"7101"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6454.png","name":"6454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9812.png","name":"9812"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":723.4253175707851,"rotation_z_degrees":8.398369620840715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00884702447655443,0.01767250256320414,-0.007654801371800187]},{"name":"camera_2","offset_m":[-0.018623681042019186,0.0035551325235669874,0.010786866855842906]},{"name":"camera_3","offset_m":[-0.005225543627657921,0.019059473439949636,-0.008332979057691552]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017242497300986293,-0.001210686876178663,-0.0007494915938301462],"end_effector_yaw_offset_degrees":-0.05781351725073991},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008987630533163599,-0.0010121898733830572,0.0011290540015109307],"end_effector_yaw_offset_degrees":-0.5900047759378964},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014525710707750813,-0.0008164100433352296,0.0001264364476119815],"end_effector_yaw_offset_degrees":0.7662994036424116}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035349085726826936,-0.0030420656752976672],"position_m":[0.3497650914273173,0.21435793432470235,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025226711577377714,-0.0040086667705744265],"position_m":[0.26857732884226226,-0.3423086667705744,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030853803930805295,0.002228582993613045],"position_m":[0.30478538039308056,0.3795285829936131,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00026811986521354386,-0.002125691758631495],"position_m":[0.3576681198652135,0.0625743082413685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"442aa3ee2ca13bec438f4b866fcad86ff04a917a5c12a32d21b12e83d20d69ee","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2760/tex_ceiling_textures_9812/tex_floor_textures_6454/tex_table_textures_4240/tex_wall_textures_7101","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5628517224337988114,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5628517224337988114,"visual_seed":5628517224337988114,"scene_id":"lab_003","finished_at":"2026-09-04T04:22:35"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T04:22:39","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.16555567867228604,-0.18388740583755503,0.71338606911949],"aabb_xy":[[-0.199331237862979,-0.19792590105072005],[-0.13178011948159304,-0.16984891062439]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.2531848227424436,-1.25488189071509,0.71338606911949],"aabb_xy":[[0.17318481947843045,-1.2684419230240034],[0.3331848260064567,-1.2413218584061767]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[-0.44189769116262695,-1.3322914238342425,0.71338606911949],"aabb_xy":[[-0.463806373301978,-1.3541920906543332],[-0.4199890090232759,-1.3103907570141518]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.43239015068659836,-1.5725466856585208,0.71338606911949],"aabb_xy":[[0.4168343812763332,-1.5880971189029283],[0.44794592009686374,-1.5569962524141139]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.3744968436386493,0.43325039174955116,0.71338606911949],"aabb_xy":[[0.36628229852296523,0.42457380145190976],[0.3827113887543332,0.44192698204719233]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.6814453718710256,1.0223088544689518,0.71338606911949],"aabb_xy":[[-0.6870270435051544,1.009808854651176],[-0.6758637002368968,1.034808854286727]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.09570808047173107,-1.7581650301730045,0.71338606911949],"aabb_xy":[[-0.11599238319512982,-1.778447655315713],[-0.0754237777483323,-1.7378824050302952]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.052455815562019836,-2.352815635321725,0.71338606911949],"aabb_xy":[[-0.03254418285540339,-2.43768993078401],[0.13745581397944306,-2.26794133985944]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.4899336073612848,-0.8305965195518075,0.71338606911949],"aabb_xy":[[0.4099336041034419,-0.9105930273437914],[0.5699336106191277,-0.7506000117598235]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.4932549471540606,0.7469591329095886,0.71338606911949],"aabb_xy":[[0.47074125533060335,0.676959132308581],[0.5157686389775178,0.816959133510596]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.62502317745711,-2.1164688846912902,0.71338606911949],"aabb_xy":[[-0.6750231778176761,-2.1664488719008927],[-0.5750231770965439,-2.066488897481687]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.5520499216709684,1.6453906797836102,0.71338606911949],"aabb_xy":[[0.5459552937828501,1.6368212852319415],[0.5581445495590868,1.653960074335279]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.6374023043365485,-2.28151035942859,0.71338606911949],"aabb_xy":[[-0.6873811128468645,-2.3315103594343087],[-0.5874234958262328,-2.231510359422871]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.280930256453228,0.6205450127785737,0.71338606911949],"aabb_xy":[[-0.3092599664017682,0.6160842705848565],[-0.2526005465046878,0.6250057549722906]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.3869492607579556,-2.5282910176715023,0.71338606911949],"aabb_xy":[[-0.4469492624008775,-2.580291166963447],[-0.3269492591150338,-2.4762908683795586]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.5719177631553032,-0.6015040117982016,0.71338606911949],"aabb_xy":[[-0.6087683110922908,-0.6390040126212353],[-0.5350672152183156,-0.5640040109751678]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.5732204503528696,-1.8105762374871541,0.71338606911949],"aabb_xy":[[-0.6332204506042707,-1.8648575625236183],[-0.5132204501014683,-1.756294912450689]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.6348459170933776,0.2685093504535989,0.71338606911949],"aabb_xy":[[0.5548520935148193,0.1885093478607574],[0.7148397406719358,0.34850935304644054]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.564668813118608,0.2540814552151165,0.71338606911949],"aabb_xy":[[-0.5821688133636572,0.23658166737554961],[-0.5471688128735585,0.2715812430546833]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.1776035788289393,-1.3847236493702664,0.71338606911949],"aabb_xy":[[-0.1927664518058764,-1.3998891066653851],[-0.1624407058520022,-1.3695581920751476]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.0422169806402094,-0.35977375566577896,0.71338606911949],"aabb_xy":[[-0.052784460298308404,-0.37031878577878746],[-0.03164950098211038,-0.34922872555277035]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.3024488245000405,-2.001562386550769,0.71338606911949],"aabb_xy":[[-0.3249135944714456,-2.0240623874296295],[-0.27998405452863534,-1.9790623856719085]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.251887912760773,-1.5469854417909734,0.71338606911949],"aabb_xy":[[-0.31588791134734545,-1.5939924051904821],[-0.18788791417420053,-1.4999784783914647]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[-0.06497054673892333,1.13648601727055,0.71338606911949],"aabb_xy":[[-0.07460218295935295,1.1268487044908408],[-0.05533891051849371,1.1461233300502587]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.6283810903755775,-1.0990970952782082,0.71338606911949],"aabb_xy":[[-0.6401492771702352,-1.1840970951834298],[-0.6166129035809201,-1.0140970953729866]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.20879850992628057,0.9270175755803711,0.71338606911949],"aabb_xy":[[0.12879851194549552,0.9194160346185191],[0.2887985079070656,0.934619116542223]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[-0.45203380614753974,0.4826245392751498,0.71338606911949],"aabb_xy":[[-0.4559942899172741,0.47495667468962927],[-0.4480733223778054,0.49029240386067047]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.19971999015076758,-1.55564818837723,0.71338606911949],"aabb_xy":[[0.16117429732556657,-1.5941939594334187],[0.23826568297596865,-1.5171024173210412]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[0.3619913632167773,-1.6814340005657096,0.71338606911949],"aabb_xy":[[0.35406808297802894,-1.7039340008037127],[0.3699146434555256,-1.658934000327706]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.1256741372476725,-2.527525391972723,0.71338606911949],"aabb_xy":[[0.08887950412276624,-2.5644312670693057],[0.16246877037257879,-2.490619516876141]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[-0.27413696978597996,1.7654318561777091,0.71338606911949],"aabb_xy":[[-0.3241300818951719,1.7154318555035137],[-0.22414385767678813,1.815431856851905]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_31","position":[-0.1714698864988098,-1.1891791179226898,0.71338606911949],"aabb_xy":[[-0.18664205578044316,-1.2043479748508932],[-0.15629771721717647,-1.1740102609944865]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_32","position":[-0.39877044084042773,0.28976647475773776,0.71338606911949],"aabb_xy":[[-0.40618289638181615,0.2839152643361098],[-0.3913579852990392,0.2956176851793657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878924024837209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8890.png","name":"8890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1029.png","name":"1029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3498.png","name":"3498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":676.1142843275799,"rotation_z_degrees":143.14306008926084,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004069064777724014,0.013267956897443003,0.009107393735733705]},{"name":"camera_2","offset_m":[0.015647216380763707,-0.018581508516398337,-0.017246238831600792]},{"name":"camera_3","offset_m":[0.014575307963985994,0.006482037967942084,0.001705857721412133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015528228920820403,0.0007106835165953461,0.0017983774954857868],"end_effector_yaw_offset_degrees":-0.5432702639316993},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000747881415558672,-0.0008567178309941172,-0.0006519244093850861],"end_effector_yaw_offset_degrees":-0.7348122620012805},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011996985845627096,-0.0003476858151367664,-0.0018487966765922358],"end_effector_yaw_offset_degrees":0.08029377725239728}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00438479892162822,-0.004418851295259948],"position_m":[0.35768479892162824,0.21298114870474005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042492317584620545,-0.0036319624383344563],"position_m":[0.266850768241538,-0.34193196243833446,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003990391781213499,-0.0007677731552814381],"position_m":[0.30569039178121354,0.3765322268447186,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009560603649279549,0.00495195740996152],"position_m":[0.35644393963507204,0.06965195740996151,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d5f12246091c3954ff7a67834327b4cc18e409bda46db953d041441d3a051d8","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_607/tex_ceiling_textures_9879/tex_floor_textures_3498/tex_table_textures_8890/tex_wall_textures_1029","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4568339186632699696,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4568339186632699696,"visual_seed":4568339186632699696,"scene_id":"lab_003","finished_at":"2026-09-04T04:25:36"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T04:25:40","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[-0.35184516662513804,-0.5764800471126699,0.71338606911949],"aabb_xy":[[-0.41584516392748444,-0.6208464740805267],[-0.28784516932279164,-0.5321136201448132]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.5735135201933497,0.5090838467680014,0.71338606911949],"aabb_xy":[[0.49351352221256456,0.5014823058061494],[0.6535135181741346,0.5166853877298533]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.10357417372575739,-1.154908757261057,0.71338606911949],"aabb_xy":[[-0.1236325853389977,-1.1749738441702147],[-0.08351576211251711,-1.1348436703518994]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.6589375914451763,0.4366505284639328,0.71338606911949],"aabb_xy":[[0.641437592310809,0.42677090142634494],[0.6764375905795433,0.4465301555015206]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.04772127405169457,1.281696225950173,0.71338606911949],"aabb_xy":[[-0.09772127500222738,1.2501470789466516],[0.0022787268988382417,1.3132453729536944]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.6189346326361592,-1.0020998536786765,0.71338606911949],"aabb_xy":[[-0.6513963335180865,-1.0322326857935789],[-0.5864729317542315,-0.9719670215637738]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.10723145007840618,-2.3528173658923555,0.71338606911949],"aabb_xy":[[-0.16222692789906556,-2.407817367326262],[-0.052235972257746774,-2.297817364458448]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.6800630721822708,-0.30474271793615415,0.71338606911949],"aabb_xy":[[-0.6888651274912435,-0.31255404409108317],[-0.6712610168732981,-0.296931391781225]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.5608156005102949,1.4906027446086934,0.71338606911949],"aabb_xy":[[-0.5715885744316627,1.4556027463896546],[-0.5500426265889271,1.5256027428277326]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.19676925629436315,-0.7970648193343495,0.71338606911949],"aabb_xy":[[0.13176925529386263,-0.8478511844890244],[0.26176925729486367,-0.7462784541796745]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.6077362105107935,1.2918332027964587,0.71338606911949],"aabb_xy":[[-0.662736209687383,1.236843528021501],[-0.552736211334204,1.3468228775714164]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.06950589299552157,1.5633840344049106,0.71338606911949],"aabb_xy":[[-0.09405210861827229,1.5331351378558737],[-0.04495967737277085,1.5936329309539479]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.2985009007206071,1.4389684076143232,0.71338606911949],"aabb_xy":[[0.2880893420401234,1.4336226742784244],[0.3089124594010908,1.4443141409502211]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[0.33790290506960763,-1.1225803942802166,0.71338606911949],"aabb_xy":[[0.28292918303327474,-1.1775803938444498],[0.3928766271059405,-1.0675803947159834]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.212384755694022,0.5075565646119928,0.71338606911949],"aabb_xy":[[-0.276384757914429,0.46318348048670444],[-0.14838475347361496,0.551929648737281]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.3488467596591692,-2.4299710680891105,0.71338606911949],"aabb_xy":[[-0.4128467569448178,-2.4714777870419544],[-0.2848467623735205,-2.3884643491362665]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.4345226490736555,-0.8292042430340567,0.71338606911949],"aabb_xy":[[-0.4406172769617739,-0.8377736375857255],[-0.42842802118553724,-0.8206348484823881]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.18229513221204297,-1.354707162641301,0.71338606911949],"aabb_xy":[[-0.18933544214558,-1.4347071620409726],[-0.175254822278506,-1.2747071632416298]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.17165657871979878,-1.2379173151268017,0.71338606911949],"aabb_xy":[[0.12165657735891157,-1.2878952197022173],[0.221656580080686,-1.187939410551386]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.06460805741233466,0.6429392877779838,0.71338606911949],"aabb_xy":[[-0.12860806070204275,0.5996043687740662],[-0.0006080541226265445,0.6862742067819014]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.062099530028860705,1.0747945212846268,0.71338606911949],"aabb_xy":[[-0.08337753817233295,1.0097945189585538],[-0.040821521885388456,1.1397945236106999]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[-0.45826306240865444,-1.1226062020503764,0.71338606911949],"aabb_xy":[[-0.5010297692880746,-1.1866062054721789],[-0.41549635552923425,-1.058606198628574]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.04140639908071775,-1.5309413102848137,0.71338606911949],"aabb_xy":[[-0.04231582641936471,-1.6209413138195097],[0.1251286245808002,-1.4409413067501178]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.4629910494412055,-2.4103682017259427,0.71338606911949],"aabb_xy":[[0.4346613394926654,-2.41482894391966],[0.49132075938974584,-2.405907459532226]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.5161511855894885,-0.4830563482586605,0.71338606911949],"aabb_xy":[[0.4970388782315095,-0.5021911271359025],[0.5352634929474672,-0.46392156938141854]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[0.5675469611046984,-1.5834112769996351,0.71338606911949],"aabb_xy":[[0.50354696083072,-1.633477377196923],[0.6315469613786765,-1.5333451768023472]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.07185707944426112,-1.2727976624043562,0.71338606911949],"aabb_xy":[[0.06589054050352533,-1.2787588070637201],[0.0778236183849969,-1.2668365177449923]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[-0.5223368517941981,-1.9802725027587607,0.71338606911949],"aabb_xy":[[-0.5567991991923397,-2.014766385156583],[-0.4878745043960561,-1.9457786203609375]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[0.3637113614546821,1.0107658219184028,0.71338606911949],"aabb_xy":[[0.27871136303725885,0.9258915264561178],[0.4487113598721053,1.0956401173806878]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_29","position":[0.6428787348154035,-1.913255096847557,0.71338606911949],"aabb_xy":[[0.6300068313144632,-1.993255097261393],[0.6557506383163435,-1.8332550964337206]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.3854223918180606,1.1683471718325942,0.71338606911949],"aabb_xy":[[0.3504223904665788,1.1479874358757733],[0.4204223931695423,1.188706907789415]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_31","position":[-0.2467580933398763,1.509152377023622,0.71338606911949],"aabb_xy":[[-0.3117580912215241,1.4580287133170813],[-0.18175809545822852,1.5602760407301632]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_32","position":[0.2867140994636107,0.6838136932108503,0.71338606911949],"aabb_xy":[[0.26928338438460414,0.6665415785469992],[0.30414481454261716,0.7010858078747009]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858198196606292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7482.png","name":"7482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7482.png","name":"7482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1869.png","name":"1869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2375.png","name":"2375"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2468.png","name":"2468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/540.png","name":"540"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":791.1069983192128,"rotation_z_degrees":24.234256861104754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013544440752428551,0.008732379210699134,-0.013554533970429054]},{"name":"camera_2","offset_m":[-0.015004601204413538,-0.01734544191837419,-0.008190592213552627]},{"name":"camera_3","offset_m":[0.01450799882458471,-0.005524985091254769,-0.00956972166139809]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011734321803070495,0.0006964974851201653,0.00042539045847020873],"end_effector_yaw_offset_degrees":0.7614355636693333},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006673694972767613,0.0015199181066058525,0.00042019526579757573],"end_effector_yaw_offset_degrees":0.4379857158873035},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005106483396463046,-0.0018090839053355797,-0.0019041083474158832],"end_effector_yaw_offset_degrees":0.8477485026689928}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004338899278183671,0.0018006659551507717],"position_m":[0.35373388992781835,0.21920066595515078,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004452809929313242,-0.0031404614488959107],"position_m":[0.26664719007068677,-0.3414404614488959,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013964713333538725,0.003623480494867341],"position_m":[0.30030352866664617,0.38092348049486735,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037040834900207474,0.0018590252653586693],"position_m":[0.3536959165099792,0.06655902526535866,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ebe76617dae08a3303385ebe864876b0dc03db13ea242eac752bd07349bb029c","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7482/tex_ceiling_textures_540/tex_floor_textures_2468/tex_table_textures_1869/tex_wall_textures_2375","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":60663133990964246,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":60663133990964246,"visual_seed":60663133990964246,"scene_id":"lab_003","finished_at":"2026-09-04T04:28:10"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T04:28:14","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.20124830883823774,1.4903858648045447,0.71338606911949],"aabb_xy":[[0.19383585329684927,1.4845346543829165],[0.20866076437962622,1.4962370752261724]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.6467065789789324,1.1005750742025056,0.71338606911949],"aabb_xy":[[-0.6506204521743547,1.0918260587959487],[-0.6427927057835098,1.1093240896090624]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.3543578989365737,-0.8010970621978377,0.71338606911949],"aabb_xy":[[-0.40935337675723305,-0.8560970636317444],[-0.29936242111591427,-0.7460970607639306]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[0.40919188143916063,1.7744901858264508,0.71338606911949],"aabb_xy":[[0.35921446457390693,1.7244901843372022],[0.4591692983044141,1.8244901873156993]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.3571858901020601,-0.4147664016034489,0.71338606911949],"aabb_xy":[[-0.3663457690459367,-0.4212976196469859],[-0.3480260111581835,-0.4082351835599119]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.30549396213013563,0.3312026603060918,0.71338606911949],"aabb_xy":[[-0.33926952132082855,0.3171641650929268],[-0.2717184029394426,0.3452411555192568]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.17116160761450072,1.1316392171822214,0.71338606911949],"aabb_xy":[[-0.22616160581624556,1.0911172505557836],[-0.1161616094127559,1.1721611838086587]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.27318163023428244,0.7419063764819525,0.71338606911949],"aabb_xy":[[0.22318163158836124,0.69198683282249],[0.32318162888020363,0.7918259201414147]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.5997919594484465,-0.016036670973107015,0.71338606911949],"aabb_xy":[[-0.6034952207775853,-0.019738689281824873],[-0.5960886981193075,-0.012334652664389158]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.10533171708084355,-0.5845296072059778,0.71338606911949],"aabb_xy":[[-0.13055255394068319,-0.6097533580588643],[-0.08011088022100386,-0.5593058563530908]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.5427125651668672,0.5674619208148344,0.71338606911949],"aabb_xy":[[0.4927337566565513,0.5174619208091156],[0.592691373677183,0.6174619208205532]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.03776515895549748,-0.29791818913094525,0.71338606911949],"aabb_xy":[[-0.0627651581211306,-0.30487043483630183],[-0.012765159789864367,-0.2909659434255887]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.5830418439112393,1.4099464791185148,0.71338606911949],"aabb_xy":[[0.5750478553335358,1.401946399023424],[0.5910358324889425,1.4179465592136047]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.11120927635354694,1.2000831637756386,0.71338606911949],"aabb_xy":[[0.10157764013311732,1.1904458509959297],[0.12084091257397656,1.2097204765553475]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[0.5536812123016805,1.0526993054721427,0.71338606911949],"aabb_xy":[[0.5253515023531403,1.0482385632784257],[0.5820109222502208,1.0571600476658598]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.24879843026442622,-2.4956865338109826,0.71338606911949],"aabb_xy":[[-0.2987717242676866,-2.54568653436553],[-0.1988251362611657,-2.4456865332564353]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.05699012344335341,-1.0061390810556579,0.71338606911949],"aabb_xy":[[0.05057630980016846,-1.012548901303326],[0.06340393708653833,-0.9997292608079894]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.5453024507054065,-0.5174217623930493,0.71338606911949],"aabb_xy":[[0.5078024491897747,-0.5286485354091943],[0.5828024522210381,-0.5061949893769042]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.41946853083609503,0.6598432665553875,0.71338606911949],"aabb_xy":[[-0.4407465389795672,0.5948432642293143],[-0.39819052269262273,0.7248432688814604]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.5812084803015984,-1.238997123951114,0.71338606911949],"aabb_xy":[[0.5748963807652601,-1.2447640632043329],[0.5875205798379368,-1.233230184697895]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.16902123750646203,0.9782598650166916,0.71338606911949],"aabb_xy":[[-0.23402123538810987,0.9271362013101508],[-0.10402123962481427,1.0293835287232325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858294289636135,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4750.png","name":"4750"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4750.png","name":"4750"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/963.png","name":"963"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9410.png","name":"9410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3457.png","name":"3457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/74.png","name":"74"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":545.7837768625496,"rotation_z_degrees":329.32992423617077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0052734705486047456,0.019719854401881762,0.014997948754278023]},{"name":"camera_2","offset_m":[-0.00732368586822231,0.012301691457066406,0.009829073063786473]},{"name":"camera_3","offset_m":[-0.018282302417649294,-0.009237801061975288,0.011537072918988017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009188017406553798,-0.0007036037422772879,0.0010358919494435018],"end_effector_yaw_offset_degrees":-0.6041524927300068},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014606101471124752,-0.00023414186307017153,0.0001561180282684308],"end_effector_yaw_offset_degrees":0.11765768845700864},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010921452561446494,-0.0006856550827744475,-0.0007760721646933768],"end_effector_yaw_offset_degrees":-0.7997483881882597}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00490432702745113,0.0029827820395302183],"position_m":[0.34839567297254886,0.22038278203953024,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004282232237977108,-0.0023502083565462694],"position_m":[0.2668177677620229,-0.34065020835654625,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00400767246535465,-0.00457668553773895],"position_m":[0.3057076724653547,0.3727233144622611,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019361929499646657,0.0002914110757693076],"position_m":[0.35546380705003533,0.0649914110757693,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43df0258d715d4721b418c553210aefc28718c62ddf459e1014510d0f6453650","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4750/tex_ceiling_textures_74/tex_floor_textures_3457/tex_table_textures_963/tex_wall_textures_9410","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1316526368373927667,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1316526368373927667,"visual_seed":1316526368373927667,"scene_id":"lab_003","finished_at":"2026-09-04T04:31:05"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T04:31:09","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.6056279194809114,-1.8855143532461263,0.71338606911949],"aabb_xy":[[-0.6231279186152784,-1.8953939802837136],[-0.588127920346544,-1.875634726208538]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.4973765756772417,-0.04584747506224307,0.71338606911949],"aabb_xy":[[0.4333765792816686,-0.10981076348097663],[0.5613765720728148,0.018115813356490484]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.5085536308324101,0.9616410328342013,0.71338606911949],"aabb_xy":[[0.48849521921916983,0.9415759459250438],[0.5286120424456504,0.9817061197433589]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.003518685383183784,-1.061244962299965,0.71338606911949],"aabb_xy":[[-0.04851868684941264,-1.1062448191614456],[0.04148131608304507,-1.0162451054384842]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.53961976533825,-0.5829951249726251,0.71338606911949],"aabb_xy":[[-0.5847910831864189,-0.6469951221171635],[-0.494448447490081,-0.5189951278280867]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.5635411997317828,-2.229750359139028,0.71338606911949],"aabb_xy":[[-0.6435412029896258,-2.309746866931012],[-0.4835411964739399,-2.149753851347044]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.5943720926754914,1.6833378940031625,0.71338606911949],"aabb_xy":[[-0.6743720937486117,1.673559847665778],[-0.5143720916023711,1.693115940340547]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.48326159109775957,1.6037349460765626,0.71338606911949],"aabb_xy":[[0.41826159009725894,1.5529485809218877],[0.54826159209826,1.6545213112312376]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.2865133915973033,-0.21499599206709785,0.71338606911949],"aabb_xy":[[-0.33651339261643864,-0.2514622078049258],[-0.23651339057816811,-0.17852977632926992]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.587562945104662,-0.8219651648736956,0.71338606911949],"aabb_xy":[[-0.6250629466202937,-0.8331919378898406],[-0.5500629435890303,-0.8107383918575505]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.10858432235036908,-0.1578154225266406,0.71338606911949],"aabb_xy":[[-0.15857933330982113,-0.20781542156223234],[-0.05858931139091707,-0.10781542349104889]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.23716347279048644,1.647005010940512,0.71338606911949],"aabb_xy":[[0.20372329759446678,1.6135613851095816],[0.27060364798650594,1.6804486367714417]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[0.2601341303312418,0.9231548165008667,0.71338606911949],"aabb_xy":[[0.2540395024431234,0.9145854219491981],[0.26622875821936004,0.9317242110525356]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.3993454003334993,-0.940555090391894,0.71338606911949],"aabb_xy":[[0.3768454000899839,-0.9527597250516661],[0.4218454005770147,-0.9283504557321222]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[0.5216486065807726,1.1916404665141536,0.71338606911949],"aabb_xy":[[0.4938035698001656,1.1608559677758419],[0.5494936433613798,1.2224249652524652]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.06046480790091313,-1.6138488834093712,0.71338606911949],"aabb_xy":[[-0.003535191393255095,-1.6778350237782251],[0.12446480719508135,-1.5498627430405167]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.043563389981427725,-2.239105835549445,0.71338606911949],"aabb_xy":[[0.017274565660987066,-2.265377269204096],[0.06985221430186839,-2.2128344018947934]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.5445021020306093,0.09631073730889517,0.71338606911949],"aabb_xy":[[-0.5596649750075465,0.08114528001377642],[-0.5293392290536724,0.11147619460401395]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.23531899797889338,0.08043052935983042,0.71338606911949],"aabb_xy":[[-0.24353354309457734,0.07175393906218912],[-0.22710445286320938,0.08910711965747169]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.23368367475647595,-1.0298467027150708,0.71338606911949],"aabb_xy":[[-0.23972068775714067,-1.0358734037840192],[-0.22764666175581122,-1.0238200016461225]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[0.2598636989692741,-1.2223341663515288,0.71338606911949],"aabb_xy":[[0.24469152968764074,-1.2375030232797324],[0.2750358682509074,-1.2071653094233257]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.14873455789952272,0.8511319254105336,0.71338606911949],"aabb_xy":[[0.08873455625660087,0.7991317761185894],[0.20873455954244458,0.9031320747024778]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[-0.4044594821641447,-1.198111629934268,0.71338606911949],"aabb_xy":[[-0.48445947932371985,-1.209659230892085],[-0.3244594850045693,-1.186564028976451]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.16168091480328894,-1.026227544619761,0.71338606911949],"aabb_xy":[[0.15363755487733377,-1.1112275457151275],[0.16972427472924412,-0.9412275435243946]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.4148215143418905,-0.34572523237371877,0.71338606911949],"aabb_xy":[[-0.42769341784283066,-0.4257252327875549],[-0.4019496108409504,-0.2657252319598826]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.0004082793442088395,-2.435629962360559,0.71338606911949],"aabb_xy":[[-0.07040828094648832,-2.4490627555622164],[0.06959172225807064,-2.4221971691589013]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[-0.3168749917483349,-0.6519619443902884,0.71338606911949],"aabb_xy":[[-0.36686982467627655,-0.701961943285532],[-0.26688015882039334,-0.6019619454950449]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.04967550015175537,-1.1608833602283606,0.71338606911949],"aabb_xy":[[-0.08467549934457362,-1.1718504062260229],[-0.01467550095893709,-1.1499163142306978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858787251801759,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1715.png","name":"1715"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1715.png","name":"1715"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1657.png","name":"1657"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8738.png","name":"8738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8054.png","name":"8054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":662.9465566562529,"rotation_z_degrees":206.15726260404742,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008235240888871783,-0.0014519988364717074,0.013137446284277387]},{"name":"camera_2","offset_m":[0.003081017592702233,0.005895746467620647,0.007874882241734656]},{"name":"camera_3","offset_m":[-0.012531176484122289,-0.012062327514181166,0.0009578380780902555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017852349919425616,-0.0019949812491448383,-0.0017571860423818508],"end_effector_yaw_offset_degrees":0.8410426862293965},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012643236831693613,0.0012789975541923596,-0.0005988303755359735],"end_effector_yaw_offset_degrees":-0.9824608273916811},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019945822086268094,0.0009417654749827495,0.0004059609153840749],"end_effector_yaw_offset_degrees":0.25202799963455913}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004719948849099215,-0.0032183191704254653],"position_m":[0.3580199488490992,0.21418168082957453,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013749819243316632,-0.0019309168377557528],"position_m":[0.27247498192433167,-0.34023091683775575,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024833735184178474,-0.0035086816600994296],"position_m":[0.2992166264815822,0.3737913183399006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020205636148452268,0.0031939226836539035],"position_m":[0.3553794363851548,0.06789392268365389,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8bf4f552a646fff71bb004e9ec41fcc8ff397a18c202799e94e4ffc7e5b8304","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1715/tex_ceiling_textures_6046/tex_floor_textures_8054/tex_table_textures_1657/tex_wall_textures_8738","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1920769641227626858,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1920769641227626858,"visual_seed":1920769641227626858,"scene_id":"lab_003","finished_at":"2026-09-04T04:33:44"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T04:33:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.14299850491981414,1.5196314220567806,0.71338606911949],"aabb_xy":[[-0.16427651306328636,1.4546314197307075],[-0.12172049677634186,1.5846314243828536]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.14158219584075482,0.2638626566423432,0.71338606911949],"aabb_xy":[[-0.17658219581725065,0.2543980405947266],[-0.10658219586425899,0.2733272726899598]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.3739158977730854,-1.3299318778077085,0.71338606911949],"aabb_xy":[[-0.42389470628340126,-1.3799318778134273],[-0.3239370892627695,-1.2799318778019897]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.15450092455313047,-2.4700431398256275,0.71338606911949],"aabb_xy":[[0.07450710097457228,-2.550043142418469],[0.23449474813168872,-2.390043137232786]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.4140127616951408,-2.280801981687267,0.71338606911949],"aabb_xy":[[0.4098769053624407,-2.318301981131624],[0.4181486180278411,-2.24330198224291]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.3311485995717185,1.6665709183964759,0.71338606911949],"aabb_xy":[[-0.3686485998638933,1.6625294429958721],[-0.2936485992795437,1.6706123937970792]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[0.5131749864854012,-1.2482536728423335,0.71338606911949],"aabb_xy":[[0.45158422726140834,-1.3122536709513806],[0.574765745709394,-1.1842536747332868]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.5064069095203949,0.9662692534385968,0.71338606911949],"aabb_xy":[[-0.586406906483434,0.8891936117948234],[-0.42640691255735563,1.0433448950823703]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.02217057117337118,-1.420116598254746,0.71338606911949],"aabb_xy":[[-0.052568682272514766,-1.4505235002564154],[0.008227539925772404,-1.3897096962530764]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.5489915507670595,1.093539622275458,0.71338606911949],"aabb_xy":[[0.4849915487173275,1.0534451391861503],[0.6129915528167915,1.1336341053647663]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.3556915138109559,1.2166676150917906,0.71338606911949],"aabb_xy":[[-0.3606475339958371,1.1941676148896692],[-0.35073549362607476,1.2391676152939124]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.2218898439997362,-1.7392272423806205,0.71338606911949],"aabb_xy":[[-0.3118898476766543,-1.8006596489577245],[-0.13188984032281797,-1.6777948358035157]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.3958860529024687,0.2634678728308839,0.71338606911949],"aabb_xy":[[-0.424215762851009,0.25900713063716685],[-0.3675563429539285,0.26792861502460097]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.04067077008460307,-1.7112756641622735,0.71338606911949],"aabb_xy":[[0.020386467361204304,-1.7315582893049821],[0.060955072808001824,-1.6909930390195644]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.4412285030326653,-0.6404869879020716,0.71338606911949],"aabb_xy":[[-0.5262285017247399,-0.6724728512969503],[-0.35622850434059067,-0.6085011245071926]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.25564785058969,-0.607738768126894,0.71338606911949],"aabb_xy":[[0.19164785330404133,-0.6492454870797378],[0.3196478478753386,-0.5662320491740499]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.0580271380462134,-1.941551821090512,0.71338606911949],"aabb_xy":[[-0.10812460202728702,-2.0055518216003243],[-0.00792967406513978,-1.8775518205807005]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.3388271406357257,-2.3689342742483337,0.71338606911949],"aabb_xy":[[-0.39882714114357865,-2.4257810079342548],[-0.2788271401278728,-2.3120875405624126]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.3220837017760041,-2.1612152811580656,0.71338606911949],"aabb_xy":[[0.3107219671227179,-2.1725837475643535],[0.3334454364292902,-2.149846814751777]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.24157044255198512,1.5916372852019278,0.71338606911949],"aabb_xy":[[0.22640756957504804,1.5764718279068095],[0.2567333155289222,1.606802742497047]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.04187280862519749,-1.1214360604879559,0.71338606911949],"aabb_xy":[[-0.038127193537565,-1.2013912441140995],[0.12187281078795997,-1.0414808768618122]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[0.3017803567802926,-1.2586625575910866,0.71338606911949],"aabb_xy":[[0.2417803569337258,-1.315481179784125],[0.36178035662685937,-1.2018439353980477]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.020191809146556494,-2.244678530461746,0.71338606911949],"aabb_xy":[[-0.055820965046516235,-2.280311197218599],[0.015437346753403247,-2.209045863704893]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.06587746898369451,1.3205199339934488,0.71338606911949],"aabb_xy":[[0.04833077406757558,1.2830199324291975],[0.08342416389981344,1.3580199355577]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[0.3932926289128278,-0.6971161893454931,0.71338606911949],"aabb_xy":[[0.3682926297471946,-0.7040684350508497],[0.41829262807846085,-0.6901639436401366]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.4031072802147,0.560765327547101,0.71338606911949],"aabb_xy":[[-0.4406072813994927,0.5563471048510402],[-0.3656072790299071,0.5651835502431612]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.44541609841192553,1.3837649010192732,0.71338606911949],"aabb_xy":[[0.42213425621379425,1.298764899722045],[0.46869794061005693,1.468764902316501]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[-0.11136263075487018,-1.5604708982103526,0.71338606911949],"aabb_xy":[[-0.15636263222109906,-1.6054707550718335],[-0.06636262928864135,-1.5154710413488721]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[-0.3076999742662131,1.5210686606071522,0.71338606911949],"aabb_xy":[[-0.35769997555005306,1.4710898062165298],[-0.2576999729823731,1.571047514997774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865378291878604,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2896.png","name":"2896"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2896.png","name":"2896"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9643.png","name":"9643"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8067.png","name":"8067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3115.png","name":"3115"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2400.png","name":"2400"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":663.4044909100237,"rotation_z_degrees":53.7647015087394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012944999300562653,0.0015805936010023502,0.012229202502701018]},{"name":"camera_2","offset_m":[-0.011719767812163804,0.00016795953958394574,-0.0050366865024089515]},{"name":"camera_3","offset_m":[0.0075621002703750995,0.007541411703963906,0.016478588566000558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016158769021979943,-0.001791996258366603,-0.0010985434363650214],"end_effector_yaw_offset_degrees":-0.8780565096318633},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000981969520578576,-0.000978806116210181,-0.0017373255925847851],"end_effector_yaw_offset_degrees":-0.6811163826111035},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.4156674135093238e-05,-0.0005327418874294906,0.0018730696688318686],"end_effector_yaw_offset_degrees":-0.39397220660496335}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032851984438062743,-0.0012972481678919603],"position_m":[0.35001480155619374,0.21610275183210806,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013545133719235795,-0.003293325421656017],"position_m":[0.2724545133719236,-0.341593325421656,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010502427680660655,-0.0025000582411792995],"position_m":[0.3027502427680661,0.3747999417588207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013882455326629916,-0.002586000468179214],"position_m":[0.356011754467337,0.06211399953182078,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"987a99d2706e42acfa548122dd3763f5fd2b23d3f2a65f2ed7fc494572733f38","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2896/tex_ceiling_textures_2400/tex_floor_textures_3115/tex_table_textures_9643/tex_wall_textures_8067","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8065192577108126466,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8065192577108126466,"visual_seed":8065192577108126466,"scene_id":"lab_003","finished_at":"2026-09-04T04:36:27"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T04:36:32","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[-0.07931282201230716,-2.172087101580565,0.71338606911949],"aabb_xy":[[-0.14431282296943437,-2.2240353135142708],[-0.01431282105517996,-2.1201388896468596]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.14821153902638529,0.5073717317013928,0.71338606911949],"aabb_xy":[[-0.16165806566042862,0.4939018800483016],[-0.13476501239234195,0.520841583354484]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.0013322624819536166,-1.6486370738681262,0.71338606911949],"aabb_xy":[[-0.018832262741290243,-1.6627286160568988],[0.01616773777738301,-1.6345455316793536]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.25892993805056286,0.6025723103804466,0.71338606911949],"aabb_xy":[[0.18892993541397646,0.582467445384581],[0.32892994068714915,0.622677175376312]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.30504737126405707,-1.6212291964925067,0.71338606911949],"aabb_xy":[[-0.3550316069722343,-1.6712291953060021],[-0.25506313555587984,-1.571229197679011]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.7073621659305489,0.12232876657260716,0.71338606911949],"aabb_xy":[[0.689862166652462,0.10499066650626118],[0.7248621652086358,0.13966686663895309]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.49738279922889483,0.9365877980583175,0.71338606911949],"aabb_xy":[[0.4761047910854226,0.8715877957322444],[0.5186608073723671,1.0015878003843905]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.6765404050888808,0.9455424229336633,0.71338606911949],"aabb_xy":[[0.6390404045915226,0.9415737393855449],[0.714040405586239,0.9495111064817817]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.6089374872778006,-2.2817152266888425,0.71338606911949],"aabb_xy":[[0.5589374859939605,-2.331694081079464],[0.6589374885616405,-2.23173637229822]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.12987214702239303,0.70257865894057,0.71338606911949],"aabb_xy":[[-0.16035639714942318,0.6525786591590741],[-0.09938789689536287,0.752578658722066]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.5785751370661231,-1.9775384288131188,0.71338606911949],"aabb_xy":[[-0.628055558280082,-2.041538426725971],[-0.5290947158521644,-1.9135384309002672]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.36291837914775144,0.06948465139624105,0.71338606911949],"aabb_xy":[[-0.3670542354804517,0.03198465195188406],[-0.3587825228150513,0.10698465084059806]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.5836566589971693,-0.8830888021844177,0.71338606911949],"aabb_xy":[[-0.6736566613311884,-0.9605711567695304],[-0.4936566566631503,-0.8056064475993051]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.12800214791123432,-1.6808216247940604,0.71338606911949],"aabb_xy":[[0.11978760279555033,-1.6894982150917015],[0.13621669302691827,-1.6721450344964188]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.06674988462610865,-1.9567890664634287,0.71338606911949],"aabb_xy":[[-0.07555193993508134,-1.9646003926183577],[-0.05794782931713593,-1.9489777403084996]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.3133696358494241,-0.6048963397635476,0.71338606911949],"aabb_xy":[[-0.363362747958616,-0.6548963404377433],[-0.26337652374023224,-0.554896339089352]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.3064296128696906,-1.3216391956322289,0.71338606911949],"aabb_xy":[[0.2424296111916932,-1.370156587111543],[0.3704296145476879,-1.2731218041529146]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.39125922973225935,-1.3416341487245336,0.71338606911949],"aabb_xy":[[-0.44123664659751294,-1.391634150213782],[-0.34128181286700576,-1.2916341472352848]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[0.5642763061080038,1.7302995603999265,0.71338606911949],"aabb_xy":[[0.48427630870441035,1.650306989201744],[0.6442763035115971,1.8102921315981095]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.6491901847081363,0.3101188398017154,0.71338606911949],"aabb_xy":[[0.6079413736782214,0.2551188402894979],[0.6904389957380509,0.3651188393139328]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.17067557912534392,-0.8415812059988717,0.71338606911949],"aabb_xy":[[-0.1782998472155222,-0.8492144295354155],[-0.1630513110351657,-0.833947982462328]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.3626862273795054,-0.9946783464992441,0.71338606911949],"aabb_xy":[[-0.41250300684434016,-1.0446783449835473],[-0.31286944791467064,-0.9446783480149407]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.3287903112995627,0.986607784908061,0.71338606911949],"aabb_xy":[[0.2787903099386755,0.9366298803326455],[0.37879031266044993,1.0365856894834766]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.5228702873757078,-1.4184424652961911,0.71338606911949],"aabb_xy":[[0.488407939977566,-1.4529363476940134],[0.5573326347738495,-1.383948582898368]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.5839932856512137,1.0961058069176288,0.71338606911949],"aabb_xy":[[-0.6267599925306337,1.0321058034958264],[-0.5412265787717934,1.1601058103394313]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.3577540645249127,-2.2735896414416934,0.71338606911949],"aabb_xy":[[-0.37062596802585285,-2.353589641855529],[-0.34488216102397257,-2.193589641027857]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.18137201166982242,1.06801761391851,0.71338606911949],"aabb_xy":[[-0.2613720086328616,0.9909419722747366],[-0.10137201470678325,1.1450932555622835]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[0.5148942217569554,0.7042900441849977,0.71338606911949],"aabb_xy":[[0.5067665335636422,0.6953764357742901],[0.5230219099502686,0.7132036525957054]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_28","position":[-0.6550814192964481,0.7784043603202742,0.71338606911949],"aabb_xy":[[-0.6850489762062738,0.7484043600223884],[-0.6251138623866225,0.8084043606181599]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[-0.028422117775143696,-1.379282875510402,0.71338606911949],"aabb_xy":[[-0.050594644751794524,-1.4014585426665254],[-0.006249590798492856,-1.3571072083542788]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_30","position":[0.6103123530246528,-1.667109578436608,0.71338606911949],"aabb_xy":[[0.5463123516166621,-1.7188985299605326],[0.6743123544326435,-1.6153206269126832]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.045782004195633164,-0.7782398161459176,0.71338606911949],"aabb_xy":[[-0.10978200445610396,-0.8232486154988456],[0.018217996064837646,-0.7332310167929896]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_32","position":[-0.27393991918019767,1.2927633313049927,0.71338606911949],"aabb_xy":[[-0.2870911651514871,1.2677633315483061],[-0.26078867320890836,1.3177633310616792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871875086076901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9365.png","name":"9365"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9365.png","name":"9365"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2131.png","name":"2131"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1446.png","name":"1446"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9839.png","name":"9839"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.386472450903,"rotation_z_degrees":293.26614901362876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038610406731862286,0.0013369851179158912,0.016549438680302637]},{"name":"camera_2","offset_m":[-0.005473173237931946,-0.011473704509212555,-0.004345506330689853]},{"name":"camera_3","offset_m":[-0.00591163612593181,0.0032301440443065314,-0.004096803334159845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00043492481747257417,-0.0010870522123476666,0.0010756767997571744],"end_effector_yaw_offset_degrees":0.4956099726595231},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00031150815066335923,0.0005375146727159986,-0.001902386858854999],"end_effector_yaw_offset_degrees":-0.7654850863597793},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00021342214867899447,0.0006060200955597594,-0.0002687920475921914],"end_effector_yaw_offset_degrees":-0.5445363925011966}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007946049023119708,0.0027822785572697026],"position_m":[0.354094604902312,0.2201822785572697,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018736861350363869,0.0046975999483876716],"position_m":[0.2729736861350364,-0.3336024000516123,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00369117408766089,-0.001598447671676584],"position_m":[0.3053911740876609,0.3757015523283234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0047442472268263815,0.001070237200137135],"position_m":[0.36214424722682637,0.06577023720013712,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2c1637c20dc8ec9c7b368c12c0dd9c9a60232f031c87c8fd848ea973922cb52","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9365/tex_ceiling_textures_9839/tex_floor_textures_341/tex_table_textures_2131/tex_wall_textures_1446","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":9191759761699671360,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":9191759761699671360,"visual_seed":9191759761699671360,"scene_id":"lab_003","finished_at":"2026-09-04T04:39:22"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T04:39:26","dimensions":{"distractor":{"count":20,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.14754254437037517,-0.6851056442376429,0.71338606911949],"aabb_xy":[[0.05754254495200428,-0.7184811410818325],[0.23754254378874606,-0.651730147393453]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.25814878387929413,1.8042669253500239,0.71338606911949],"aabb_xy":[[-0.2668627529292285,1.7817669246908352],[-0.24943481482935956,1.8267669260092116]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[0.5382468959406834,1.0731648906853581,0.71338606911949],"aabb_xy":[[0.48843011647584866,1.0231648922010546],[0.5880636754055182,1.1231648891696613]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.4171153359221502,-2.1060103236185013,0.71338606911949],"aabb_xy":[[0.3785696430969492,-2.14455609467469],[0.45566102874735126,-2.0674645525623125]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.04517698741178389,-0.9521954996016679,0.71338606911949],"aabb_xy":[[-0.06706673500072467,-1.042195496890917],[-0.023287239822843083,-0.8621955023124189]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.2465221276695005,0.4169229978989404,0.71338606911949],"aabb_xy":[[-0.3115221287754438,0.3919576248308121],[-0.1815221265635572,0.4418883709670687]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[-0.2739943523998643,-1.0933360527176976,0.71338606911949],"aabb_xy":[[-0.33799435098643676,-1.1403430161172063],[-0.20999435381329185,-1.046329089318189]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.4580182992785098,0.36323001705078495,0.71338606911949],"aabb_xy":[[0.39401829598880167,0.3198950980468673],[0.5220183025682179,0.4065649360547025]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[-0.18076553833989017,-0.3297805426923257,0.71338606911949],"aabb_xy":[[-0.21826553900446885,-0.34546760069254784],[-0.14326553767531144,-0.31409348469210346]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.5428037271436181,-2.3904949958044104,0.71338606911949],"aabb_xy":[[-0.5926864240213143,-2.4404949950506856],[-0.49292103026592193,-2.340494996558136]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.5347172917491962,0.27485988542950546,0.71338606911949],"aabb_xy":[[-0.5522172910272831,0.2575217853631595],[-0.5172172924711094,0.2921979854958514]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.5816047378912041,-1.3586291648546764,0.71338606911949],"aabb_xy":[[0.5441047367064112,-1.363047387550737],[0.6191047390759968,-1.354210942158616]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.38639083729604706,-0.2245386430246632,0.71338606911949],"aabb_xy":[[-0.4503908387040377,-0.27632759454858785],[-0.32239083588805634,-0.17274969150073846]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.270670971958651,0.5568908147038507,0.71338606911949],"aabb_xy":[[0.24815728013519373,0.4868908141028431],[0.2931846637821081,0.6268908153048581]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.619006491893948,0.8948390029091771,0.71338606911949],"aabb_xy":[[-0.68300648832127,0.8476693790870806],[-0.5550064954666262,0.9420086267312735]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.4440488664798826,-2.0691967853591593,0.71338606911949],"aabb_xy":[[-0.44938138113449566,-2.074521113604395],[-0.4387163518252697,-2.0638724571139235]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.6549227135593343,1.6682959615026856,0.71338606911949],"aabb_xy":[[0.6174227136155679,1.660002871467849],[0.6924227135031007,1.6765890515375221]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.5273811491438549,-0.9303252289069766,0.71338606911949],"aabb_xy":[[-0.5642316970808425,-0.9678252297300102],[-0.4905306012068673,-0.8928252280839427]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.5019888848169303,1.4018819064700172,0.71338606911949],"aabb_xy":[[-0.5919888884938482,1.3404494998929126],[-0.41198888114001186,1.4633143130471213]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.0563547189742829,-1.534568575817549,0.71338606911949],"aabb_xy":[[-0.11132844101061579,-1.5895685753817823],[-0.0013809969379500256,-1.479568576253316]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908493854405555,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9867.png","name":"9867"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9867.png","name":"9867"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9506.png","name":"9506"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3385.png","name":"3385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6975.png","name":"6975"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8461.png","name":"8461"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":747.1442757826204,"rotation_z_degrees":13.760656804985416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002675396005081883,-0.0028304427372214842,0.012133233249012196]},{"name":"camera_2","offset_m":[0.004581749812735025,-0.018268832731190933,0.0019638840148176184]},{"name":"camera_3","offset_m":[-6.841668418354832e-05,0.0035372206719773425,0.007015213794042099]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002043178107346156,-0.00010066352074584463,0.0009085217451799718],"end_effector_yaw_offset_degrees":-0.8742681730685402},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008652141622387233,0.0018125631723617743,-4.5762612958053644e-05],"end_effector_yaw_offset_degrees":-0.21510008502816147},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001476591661333601,1.0967313139853205e-05,0.001154589832217662],"end_effector_yaw_offset_degrees":-0.9668138702026694}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008584842589462365,0.0033574260906930027],"position_m":[0.35415848425894625,0.22075742609069302,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0046448719934804455,0.0008694516656989441],"position_m":[0.26645512800651955,-0.33743054833430103,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00489271733286682,0.0032439518767264997],"position_m":[0.30659271733286686,0.3805439518767265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00018265371887826818,-0.0028121297284276494],"position_m":[0.35758265371887826,0.061887870271572346,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"35ced8f21e2c7a981151f2d1719056f933dd5b3a00fbab33d251dbac9b9fb6b3","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9867/tex_ceiling_textures_8461/tex_floor_textures_6975/tex_table_textures_9506/tex_wall_textures_3385","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3333531196719383741,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3333531196719383741,"visual_seed":3333531196719383741,"scene_id":"lab_003","finished_at":"2026-09-04T04:42:10"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T04:42:13","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.5129517538080874,-2.099329426905397,0.71338606911949],"aabb_xy":[[-0.5199932047588349,-2.1063561786431912],[-0.5059103028573397,-2.0923026751676024]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.2870640510146325,1.196406216873044,0.71338606911949],"aabb_xy":[[-0.29149468036947274,1.1909578451383616],[-0.2826334216597924,1.2018545886077265]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.47047084007969153,0.7231272319972968,0.71338606911949],"aabb_xy":[[0.4354708387282098,0.702767496040476],[0.5054708414311733,0.7434869679541176]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.30955728658218906,-0.5645889169195741,0.71338606911949],"aabb_xy":[[-0.32218407386938536,-0.574134990621147],[-0.29693049929499266,-0.5550428432180012]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.6624952982001007,-0.09490429862828531,0.71338606911949],"aabb_xy":[[0.6453932202417325,-0.11201110415955506],[0.6795973761584688,-0.07779749309701556]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.1852699461864925,1.7721790706195004,0.71338606911949],"aabb_xy":[[-0.19396790847720785,1.760054096312026],[-0.17657198389577725,1.7843040449269754]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.6420527670972954,-2.4022930476936257,0.71338606911949],"aabb_xy":[[-0.6596856026908229,-2.4199159937092487],[-0.6244199315037677,-2.3846701016780028]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.4433127770152814,-0.8780683916045253,0.71338606911949],"aabb_xy":[[0.41702395269484066,-0.9043398252591764],[0.469601601335722,-0.851796957949874]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.3994806339870345,-1.1166958128742244,0.71338606911949],"aabb_xy":[[0.3619806341700009,-1.1213340241853662],[0.43698063380406804,-1.1120576015630825]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.524521586829143,-0.33623608045912734,0.71338606911949],"aabb_xy":[[-0.5945215902207049,-0.37155185416255815],[-0.45452158343758103,-0.3009203067556964]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.0384438653992486,1.7408526414856067,0.71338606911949],"aabb_xy":[[-0.08557324440108427,1.6768526404412047],[0.008685513602587076,1.8048526425300087]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.18581807234965653,1.029643528990956,0.71338606911949],"aabb_xy":[[0.1793164358416519,1.0198757069646465],[0.19231970885766117,1.039411351017266]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.5114721656403668,0.49264117512574046,0.71338606911949],"aabb_xy":[[-0.5194984362709928,0.48388968014838796],[-0.5034458950097408,0.5013926701030932]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.6058684058078649,0.7957335930924012,0.71338606911949],"aabb_xy":[[-0.617740488819366,0.7107335933987509],[-0.5939963227963638,0.8807335927860516]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.45603546553375196,1.269584226020418,0.71338606911949],"aabb_xy":[[0.40605251534627257,1.2195842263778573],[0.5060184157212312,1.3195842256629782]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.4194330082639224,1.3774593561815078,0.71338606911949],"aabb_xy":[[-0.49943301152176534,1.2974628483895236],[-0.3394330050060794,1.4574558639734916]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.518312614866963,-2.144924497372705,0.71338606911949],"aabb_xy":[[0.5079010561864793,-2.150270230708603],[0.5287241735474467,-2.139578764036806]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.34506656961335447,1.085085543204039,0.71338606911949],"aabb_xy":[[-0.38098007403834416,1.0491720349872842],[-0.3091530651883648,1.1209990514207933]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.32189995204945854,1.7880004543185746,0.71338606911949],"aabb_xy":[[0.3060154587841334,1.7736475140197507],[0.3377844453147837,1.8023533946173989]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.06299061715464283,-1.881550330852912,0.71338606911949],"aabb_xy":[[0.05477607203895884,-1.8902269211505534],[0.07120516227032679,-1.8728737405552707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839511803006681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1859.png","name":"1859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1859.png","name":"1859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9700.png","name":"9700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9118.png","name":"9118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9485.png","name":"9485"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":771.808356690696,"rotation_z_degrees":75.42576824957372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018684594437598918,0.003751453309093919,-0.001498312134276203]},{"name":"camera_2","offset_m":[-0.009976311226017227,-0.001171878466468091,-0.015589070542488979]},{"name":"camera_3","offset_m":[0.013528835796807196,0.00555997022809945,-0.004863652576555402]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006143670286310491,-6.910986900914387e-05,-0.000996877095395098],"end_effector_yaw_offset_degrees":-0.5563626016742109},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001361573146032728,-0.0015905974839025073,-0.001040072767974031],"end_effector_yaw_offset_degrees":-0.896084244394648},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017031555842969615,-0.001582810225624007,-0.00113214197267525],"end_effector_yaw_offset_degrees":0.303674936366366}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016810475611906397,-0.003481278332819285],"position_m":[0.35161895243880936,0.21391872166718073,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018184836204507304,-0.0036212086348541093],"position_m":[0.2692815163795493,-0.3419212086348541,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037461453363686085,-0.0035324797532037856],"position_m":[0.2979538546636314,0.3737675202467962,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000515554630123669,-0.0034400654826519184],"position_m":[0.35791555463012364,0.061259934517348076,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"31b984590c6bf4ae7b5bbfe2a028caf609ec8316034a78f94bb84e81aa1f3575","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1859/tex_ceiling_textures_9485/tex_floor_textures_9118/tex_table_textures_9700/tex_wall_textures_1318","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4008949715206438218,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4008949715206438218,"visual_seed":4008949715206438218,"scene_id":"lab_003","finished_at":"2026-09-04T04:45:08"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T04:45:11","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.6745369644942951,-1.3748027587368559,0.71338606911949],"aabb_xy":[[0.6653770855504185,-1.381333976780393],[0.6836968434381717,-1.3682715406933188]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[-0.2069897627602454,0.929938926711452,0.71338606911949],"aabb_xy":[[-0.26198297409738214,0.8749389263726585],[-0.15199655142310864,0.9849389270502457]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.39261957618773735,-0.7603426752631621,0.71338606911949],"aabb_xy":[[-0.4043877629823949,-0.8453426751683838],[-0.3808513893930799,-0.6753426753579406]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.2723519477352569,-0.14644105955141873,0.71338606911949],"aabb_xy":[[-0.3523519463225763,-0.2257566614895796],[-0.1923519491479375,-0.06712545761325782]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.464573023374059,0.7273420391323135,0.71338606911949],"aabb_xy":[[-0.544573023647666,0.6543924913065969],[-0.384573023100452,0.8002915869580304]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.21892738598494765,0.546633300934396,0.71338606911949],"aabb_xy":[[0.18392738771482772,0.5395591732394078],[0.25392738425506756,0.5537074286293842]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.22969764419966587,1.423872334213819,0.71338606911949],"aabb_xy":[[-0.27578273545439735,1.359872336961264],[-0.1836125529449344,1.4878723314663742]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.4686000755068651,0.8688672243822202,0.71338606911949],"aabb_xy":[[0.43360007561084624,0.8604929888702803],[0.503600075402884,0.8772414598941601]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.1897285220760475,-1.8448143061846616,0.71338606911949],"aabb_xy":[[-0.19844249112598197,-1.8673143068438496],[-0.181014553026113,-1.8223143055254731]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[0.4891120816572312,1.2923842567976664,0.71338606911949],"aabb_xy":[[0.45178080513198854,1.257731202002814],[0.5264433581824737,1.3270373115925185]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[0.6471261068471141,1.050131448996594,0.71338606911949],"aabb_xy":[[0.6058215637833781,0.9861314494284767],[0.6884306499108501,1.114131448564711]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.3281704385758648,1.0710913795555164,0.71338606911949],"aabb_xy":[[0.2946912713148239,1.0376122661844096],[0.3616496058369058,1.1045704929266236]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.5289071786633641,-1.1338859641608923,0.71338606911949],"aabb_xy":[[0.49140717747857127,-1.1383041868569523],[0.5664071798481568,-1.1294677414648313]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.165735540514388,-0.3720145345863628,0.71338606911949],"aabb_xy":[[-0.24573554098460396,-0.38032524220071123],[-0.08573554004417204,-0.3637038269720144]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.6255874742982788,-2.131727414594418,0.71338606911949],"aabb_xy":[[0.5418652487981963,-2.221727418129114],[0.7093096997983612,-2.041727411059722]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.09804415667630917,0.6003280155645707,0.71338606911949],"aabb_xy":[[-0.17804415465709422,0.5927264746027187],[-0.01804415869552414,0.6079295565264226]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.06278349597253285,1.1208947006871144,0.71338606911949],"aabb_xy":[[-0.0708198306738177,1.1128565813826974],[-0.05474716127124801,1.128932819991531]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.21893962274670714,-0.28223718809612164,0.71338606911949],"aabb_xy":[[-0.23411179202834048,-0.29740604502432505],[-0.2037674534650738,-0.26706833116791834]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.49288633356477796,-0.3957091360013756,0.71338606911949],"aabb_xy":[[0.48730466193064925,-0.4082091358191511],[0.49846800519890677,-0.3832091361836001]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.5304707074366479,1.2343890125722048,0.71338606911949],"aabb_xy":[[-0.5507550101600466,1.2141063874294957],[-0.510186404713249,1.2546716377149134]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.6611621709759792,1.6437630845742164,0.71338606911949],"aabb_xy":[[0.6361621710434613,1.636880416353293],[0.6861621709084971,1.6506457527951397]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.04656362755818688,0.1913128293420483,0.71338606911949],"aabb_xy":[[-0.06166592901920497,0.17621130771098642],[-0.03146132609716878,0.20641435097311006]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.5391440894815402,0.3165076336941355,0.71338606911949],"aabb_xy":[[0.4691440860899782,0.2811918599907046],[0.6091440928731021,0.35182340739756635]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[-0.3645308490109993,1.3225535455743311,0.71338606911949],"aabb_xy":[[-0.39953084732169475,1.3148385306507853],[-0.32953085070030386,1.3302685604978766]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.07396256647227295,0.004610985477766061,0.71338606911949],"aabb_xy":[[-0.11146256664414488,-0.028089749905141126],[-0.036462566300401,0.03731172086067325]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.5422217878372146,-1.629119055729595,0.71338606911949],"aabb_xy":[[0.5362552488964788,-1.635080200388959],[0.5481883267779503,-1.6231579110702308]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.25192502526012606,-1.6357192411436792,0.71338606911949],"aabb_xy":[[0.24451256971873753,-1.6415704515653073],[0.2593374808015145,-1.6298680307220514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854452193079275,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7777.png","name":"7777"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8039.png","name":"8039"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2431.png","name":"2431"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":606.1564746554371,"rotation_z_degrees":194.04131663700434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-8.298091996079143e-05,0.016265572813728323,0.01153235089403305]},{"name":"camera_2","offset_m":[-0.004986537760833323,-0.01328920535782693,0.006860638815976934]},{"name":"camera_3","offset_m":[0.012859831526489254,-0.01069827745834306,0.016148874328628934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001872790845526227,0.0003560455847743801,0.0014038696223984998],"end_effector_yaw_offset_degrees":-0.8140408189947663},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00152465009646752,-0.0019562765202513553,0.0013760791668462322],"end_effector_yaw_offset_degrees":0.043714577623328754},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017730384377025038,0.0004257066838869901,-9.787180025974261e-05],"end_effector_yaw_offset_degrees":-0.9844192098090889}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014816323088190295,0.0007056818311771988],"position_m":[0.35478163230881904,0.2181056818311772,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002923277487878409,0.001675406767874488],"position_m":[0.2740232774878784,-0.3366245932321255,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034637030855908025,0.001834514279721069],"position_m":[0.2982362969144092,0.3791345142797211,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002992970390636152,-0.0033484758139778],"position_m":[0.36039297039063617,0.061351524186022195,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"834d0876bc7b4bbdbb7812226be388d9d5a5592a1123b62d1ebfb65a6b7036e5","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3572/tex_ceiling_textures_230/tex_floor_textures_2431/tex_table_textures_7777/tex_wall_textures_8039","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4218767013426054874,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4218767013426054874,"visual_seed":4218767013426054874,"scene_id":"lab_003","finished_at":"2026-09-04T04:47:58"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T04:48:01","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[-0.3802064603329087,0.08611778572975926,0.71338606911949],"aabb_xy":[[-0.40472008442991453,0.06185319242772279],[-0.3556928362359028,0.1103823790317957]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.014783883035657475,-2.02540419914656,0.71338606911949],"aabb_xy":[[-0.06475694856817295,-2.075404198959094],[0.03518918249685799,-1.975404199334028]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.16252618136945862,-1.078993036699083,0.71338606911949],"aabb_xy":[[0.15548587143592163,-1.1589930360987546],[0.16956649130299561,-0.9989930372994118]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[0.3785376520550403,-0.7234298797116265,0.71338606911949],"aabb_xy":[[0.32853765247870564,-0.7734104586637326],[0.4285376516313751,-0.6734493007595207]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.45663196729318956,-2.485413183379526,0.71338606911949],"aabb_xy":[[0.4516759471083085,-2.5079131835816484],[0.46158798747807084,-2.4629131831774047]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.2911069900688761,0.7857062703599738,0.71338606911949],"aabb_xy":[[0.27646358451484304,0.7710475507031894],[0.305750395622909,0.8003649900167579]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.12821733792822265,-2.4144125955682787,0.71338606911949],"aabb_xy":[[0.06321733697109543,-2.466360807501984],[0.19321733888534984,-2.3624643836345727]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.3869967589593959,-0.46508621931571703,0.71338606911949],"aabb_xy":[[-0.40949675848310324,-0.48758216676633775],[-0.36449675943568843,-0.4425902718650962]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.45323844456181406,-0.9617718321402502,0.71338606911949],"aabb_xy":[[-0.503231556671006,-1.0117718328144458],[-0.4032453324526223,-0.9117718314660547]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.14096568330265402,0.6758627387803191,0.71338606911949],"aabb_xy":[[-0.19096568194857522,0.6259431951208566],[-0.09096568465673283,0.7257822824397814]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.09182496890594505,0.8479082426662234,0.71338606911949],"aabb_xy":[[-0.15182496915734622,0.7936269176297588],[-0.03182496865454387,0.9021895677026881]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.00841850545841627,-0.8741228891607895,0.71338606911949],"aabb_xy":[[-0.015459956409163866,-0.8811496408985842],[-0.0013770545076686735,-0.8670961374229951]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.46508633528854826,1.4961210763896147,0.71338606911949],"aabb_xy":[[-0.500086335184567,1.4877468408776746],[-0.4300863353925294,1.5044953119015547]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.20982820979070227,0.4781082759961546,0.71338606911949],"aabb_xy":[[-0.21708945736110968,0.4653212657326452],[-0.20256696222029485,0.49089528625966417]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.11273522946105874,1.2679913572684298,0.71338606911949],"aabb_xy":[[0.09267681784781842,1.2479262703592724],[0.132793641074299,1.2880564441775872]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.5521960097829163,0.22975322995412384,0.71338606911949],"aabb_xy":[[-0.5698716403715145,0.21207301367472106],[-0.5345203791943178,0.24743344623352656]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.3512899667599083,0.2100933569585144,0.71338606911949],"aabb_xy":[[-0.3887899651833086,0.19692914299068373],[-0.3137899683365079,0.223257570926345]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.17054919672319024,-2.551433748223522,0.71338606911949],"aabb_xy":[[-0.24054919853193568,-2.5727875169877095],[-0.1005491949144448,-2.5300799794593347]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.6369831190848023,-0.240423864460535,0.71338606911949],"aabb_xy":[[0.5532608935847197,-0.33042386799523094],[0.7207053445848847,-0.15042386092583904]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.14423641114261154,1.331782371197015,0.71338606911949],"aabb_xy":[[-0.15933871260362958,1.3166808495659525],[-0.1291341096815934,1.3468838928280764]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.5603248752075578,0.8689467485210449,0.71338606911949],"aabb_xy":[[0.525324875231062,0.8594821324734284],[0.5953248751840536,0.8784113645686616]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.5061147570238944,-1.6799326239924577,0.71338606911949],"aabb_xy":[[0.4261209334453363,-1.7599326265852995],[0.5861085806024527,-1.5999326213996163]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.5162252402958103,-1.7716390515996632,0.71338606911949],"aabb_xy":[[-0.6062252439727283,-1.8330714581767673],[-0.4262252366188919,-1.7102066450225586]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862631551264542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4392.png","name":"4392"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5582.png","name":"5582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1323.png","name":"1323"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":743.9573323799475,"rotation_z_degrees":8.631524729415867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016809323144499875,0.01309926239432822,-0.01270899999829717]},{"name":"camera_2","offset_m":[-0.010917902676618322,0.007819418755755102,0.013763660134353522]},{"name":"camera_3","offset_m":[-0.005838305022285288,0.004837585700899098,-0.01232221457835057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010298341707936799,0.0018121640077724925,-0.00043898986024019666],"end_effector_yaw_offset_degrees":0.8908551073367434},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007738586498521754,-0.0006996441254615128,-0.00020221061813645454],"end_effector_yaw_offset_degrees":-0.7526424516475612},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017256512705097577,-0.000996024499924025,0.0016958256488526905],"end_effector_yaw_offset_degrees":0.6977420109848822}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004604090938440146,0.0035601752038075278],"position_m":[0.35790409093844017,0.22096017520380754,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002642402865145471,0.0031042716284992453],"position_m":[0.2684575971348545,-0.33519572837150075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020265691578699244,-0.0007433248292908886],"position_m":[0.30372656915786994,0.3765566751707091,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001041123292349208,-0.0032158191291389838],"position_m":[0.35635887670765076,0.06148418087086101,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b91746cf34f40bd0620f572076d8f67a9cc9c23591b0d0f222646284aa3a9d02","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5031/tex_ceiling_textures_1323/tex_floor_textures_5582/tex_table_textures_1012/tex_wall_textures_4392","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4191986101540955436,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4191986101540955436,"visual_seed":4191986101540955436,"scene_id":"lab_003","finished_at":"2026-09-04T04:50:52"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T04:50:55","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.5594531111531227,0.04864585179503855,0.71338606911949],"aabb_xy":[[0.5369531109096074,0.0364412171352666],[0.5819531113966382,0.060850486454810504]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.133878458028318,1.7680282448244173,0.71338606911949],"aabb_xy":[[-0.19387845853617092,1.711181511138496],[-0.07387845752046508,1.8248749785103386]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.37923249156052563,-0.9027210421607508,0.71338606911949],"aabb_xy":[[0.361599655966998,-0.9203439881763736],[0.39686532715405315,-0.8850980961451277]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.3008162088975327,0.601535088689038,0.71338606911949],"aabb_xy":[[0.2558236221790822,0.5565350894145893],[0.34580879561598304,0.6465350879634868]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[0.2067858327254245,-1.922404368196525,0.71338606911949],"aabb_xy":[[0.14178583008763102,-1.9738839668959722],[0.271785835363218,-1.8709247694970783]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.14221187059789375,0.8403802562011924,0.71338606911949],"aabb_xy":[[0.10471186941310094,0.8359620335051317],[0.17971187178268652,0.8447984788972527]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.25922569225789105,0.9609469752575932,0.71338606911949],"aabb_xy":[[0.2217256917605328,0.9569782917094748],[0.2967256927552493,0.9649156588057116]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.05329897468283129,-1.5751977326391369,0.71338606911949],"aabb_xy":[[-0.11729897506036491,-1.6249429994899491],[0.010701025694702326,-1.5254524657883246]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.6263843230415236,-0.6933260382380071,0.71338606911949],"aabb_xy":[[0.6226810617123846,-0.6970280565467247],[0.6300875843706624,-0.689624019929289]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.08499499255628373,-0.699024236871953,0.71338606911949],"aabb_xy":[[0.056665282607743506,-0.7034849790656702],[0.11332470250482396,-0.6945634946782361]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.5419862459757798,-0.20117863207432363,0.71338606911949],"aabb_xy":[[-0.5620446575890201,-0.22124371898348114],[-0.5219278343625395,-0.18111354516516606]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.286109086781419,1.5913092589502456,0.71338606911949],"aabb_xy":[[0.22110908674711627,1.5446085822699183],[0.3511090868157217,1.6380099356305728]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.4612608604165702,-0.7140647572762315,0.71338606911949],"aabb_xy":[[0.39726086330446453,-0.7630971270706421],[0.5252608575286759,-0.6650323874818209]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.4336922965377537,0.1356716518350609,0.71338606911949],"aabb_xy":[[-0.5136922987005161,0.05571646820891729],[-0.3536922943749912,0.21562683546120454]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.5250479588935212,1.0238977114972534,0.71338606911949],"aabb_xy":[[-0.5625479596855166,1.0175298705390632],[-0.48754795810152574,1.0302655524554436]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.3108399796081718,-1.7308638117562927,0.71338606911949],"aabb_xy":[[0.2568243833262718,-1.7948638146485498],[0.3648555758900718,-1.6668638088640355]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.424031559091238,-2.2409397475266655,0.71338606911949],"aabb_xy":[[0.39156985820931045,-2.2710725796415674],[0.45649325997316537,-2.2108069154117618]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[0.3204215818765155,-1.1187253267231014,0.71338606911949],"aabb_xy":[[0.30053054199617524,-1.1313811380077985],[0.3403126217568557,-1.1060695154384048]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.04060752010666058,-1.315283118059059,0.71338606911949],"aabb_xy":[[-0.09560073144379735,-1.3702831183978526],[0.014385691230476175,-1.2602831177202654]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.4987397342629507,0.8797450770433812,0.71338606911949],"aabb_xy":[[0.461239732747319,0.8685183040272361],[0.5362397357785824,0.8909718500595262]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.49482703030967423,0.10882271702171664,0.71338606911949],"aabb_xy":[[0.4573270304926406,0.10418450571057478],[0.5323270301267078,0.11346092833285851]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.5769309828609187,-0.6990862182513966,0.71338606911949],"aabb_xy":[[-0.5822634975155316,-0.7044105464966323],[-0.5715984682063058,-0.6937618900061612]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.561050922690686,-1.0061909288202084,0.71338606911949],"aabb_xy":[[-0.6038176295701061,-1.070190932242011],[-0.5182842158112657,-0.942190925398406]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.36829271339539343,0.7778539791573107,0.71338606911949],"aabb_xy":[[-0.4282927132419602,0.721035356964272],[-0.30829271354882665,0.8346726013503494]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.12619892963168955,0.7618938483757631,0.71338606911949],"aabb_xy":[[-0.16369892980356146,0.7291931129928558],[-0.08869892945981758,0.7945945837586702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870790758477157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5266.png","name":"5266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5266.png","name":"5266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3153.png","name":"3153"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/924.png","name":"924"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3795.png","name":"3795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7534.png","name":"7534"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":632.7116865651759,"rotation_z_degrees":212.22668938647658,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01664613350808605,0.011601753237169044,-0.013085938664666896]},{"name":"camera_2","offset_m":[-0.002472721472406403,-0.0029964934275194914,0.015608548418071157]},{"name":"camera_3","offset_m":[-0.01740601704663517,-0.005640277892409604,-0.0071223899557475035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.195727024738625e-06,0.0007204981370606922,-0.0007675806187988506],"end_effector_yaw_offset_degrees":-0.3564193091957528},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016147693704340962,0.000674751867768197,0.00043338176199962317],"end_effector_yaw_offset_degrees":0.09537465864479766},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001958021469371284,0.0003508137604301335,-0.001347879806754114],"end_effector_yaw_offset_degrees":-0.0632291903028146}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003595587617816298,0.001788626074288432],"position_m":[0.3568955876178163,0.21918862607428843,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009631108805051988,0.002656947659819669],"position_m":[0.2701368891194948,-0.3356430523401803,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004883601142931077,-0.003630366515208589],"position_m":[0.3065836011429311,0.37366963348479143,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003488627777755871,-0.004466880745975815],"position_m":[0.35774886277777557,0.06023311925402418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4307e3e015a31876d0dd665e2fe1a9815159b1c39ba26946e1c84e82b67662be","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5266/tex_ceiling_textures_7534/tex_floor_textures_3795/tex_table_textures_3153/tex_wall_textures_924","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5588487586586027168,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5588487586586027168,"visual_seed":5588487586586027168,"scene_id":"lab_003","finished_at":"2026-09-04T04:53:47"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T04:53:50","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.42132135600002113,-0.27330307712847723,0.71338606911949],"aabb_xy":[[-0.5013213534036145,-0.35329564832666005],[-0.3413213585964277,-0.19331050593029445]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.09404885472426772,1.201848010696518,0.71338606911949],"aabb_xy":[[0.08600549479831253,1.1168480096011517],[0.10209221465022288,1.2868480117918846]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.4982806088858538,1.4237464706137142,0.71338606911949],"aabb_xy":[[0.43668984966186103,1.3597464725046675],[0.5598713681098466,1.4877464687227613]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.046092581884015216,-0.24985087782475857,0.71338606911949],"aabb_xy":[[-0.057964664895516334,-0.3348508775184089],[-0.03422049887251411,-0.16485087813110824]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.4394580660402567,-1.0876079718517166,0.71338606911949],"aabb_xy":[[-0.45951647765349696,-1.1076730587608743],[-0.4193996544270164,-1.0675428849425594]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.1541327739489795,-1.2007953525253623,0.71338606911949],"aabb_xy":[[-0.17167946886509847,-1.2382953540896136],[-0.1365860790328606,-1.163295350961111]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.4992586457538465,-2.130252128399354,0.71338606911949],"aabb_xy":[[-0.508552263990997,-2.1677521268874873],[-0.48996502751669585,-2.0927521299112195]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.4764015465553317,0.1135830601027159,0.71338606911949],"aabb_xy":[[-0.5016223834151713,0.08835930924982915],[-0.45118070969549195,0.13880681095560266]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.6171245450093238,1.0158141784704173,0.71338606911949],"aabb_xy":[[-0.6396245450194721,1.0017179588308143],[-0.5946245449991755,1.0299103981100208]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.6652866780368416,-0.33023816588541655,0.71338606911949],"aabb_xy":[[0.6153024423286643,-0.3802381646989121],[0.7152709137450187,-0.2802381670719209]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.6821630894306858,-0.7934887756543949,0.71338606911949],"aabb_xy":[[0.663050782072707,-0.8126235545316369],[0.7012753967886647,-0.7743539967771529]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.0698853125586737,-1.7492672471941288,0.71338606911949],"aabb_xy":[[0.06442736692165363,-1.829267250501788],[0.07534325819569376,-1.6692672438864697]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.17310243418258442,0.8770653289047314,0.71338606911949],"aabb_xy":[[-0.21164812700778546,0.8385195578485428],[-0.13455674135738338,0.91561109996092]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.6585709089461854,-2.291051415615822,0.71338606911949],"aabb_xy":[[-0.6810356789175904,-2.3135514164946827],[-0.6361061389747802,-2.2685514147369616]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.3630276153620582,-1.337783698842819,0.71338606911949],"aabb_xy":[[-0.39952343598933693,-1.3742676412695762],[-0.32653179473477945,-1.301299756416061]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.33264195189476453,0.7773637729816403,0.71338606911949],"aabb_xy":[[0.2826471189668229,0.7273637740863969],[0.3826367848227061,0.8273637718768839]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.14487322051833063,0.9146707489436712,0.71338606911949],"aabb_xy":[[0.05518614421021517,0.8246707486892205],[0.23456029682644608,1.0046707491981217]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.1078234529842651,-0.8147612855884621,0.71338606911949],"aabb_xy":[[0.09990017274551678,-0.8372612858264655],[0.11574673322301345,-0.7922612853504588]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.2634431655581184,1.124105715717949,0.71338606911949],"aabb_xy":[[0.1994431662639502,1.0601195753490948],[0.32744316485228664,1.1880918560868032]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.5171211443020761,-0.885956376429974,0.71338606911949],"aabb_xy":[[-0.5671211429479973,-0.9358759200894363],[-0.4671211456561549,-0.8360368327705116]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.3161719980436225,-2.209799377182945,0.71338606911949],"aabb_xy":[[-0.33367199828867183,-2.2272991650225116],[-0.29867199779857306,-2.192299589343378]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.4800588206121701,1.588464773721331,0.71338606911949],"aabb_xy":[[0.43005954544373404,1.538464772445384],[0.5300580957806064,1.6384647749972783]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.6142127384381411,-1.7920169590230295,0.71338606911949],"aabb_xy":[[0.5502127420108193,-1.8391865828451261],[0.6782127348654631,-1.7448473352009333]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.25142642947296057,-0.9628455183790616,0.71338606911949],"aabb_xy":[[0.2469958001181204,-0.9682938901137443],[0.25585705882780074,-0.9573971466443791]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.3818842275410299,1.7012158164814122,0.71338606911949],"aabb_xy":[[0.34688422764501103,1.6928415809694721],[0.4168842274370488,1.7095900519933522]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[-0.5644434581661,0.5910335575174686,0.71338606911949],"aabb_xy":[[-0.6017747346913426,0.5563805027226163],[-0.5271121816408574,0.6256866123123208]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[-0.6212971573380913,-1.655833604922503,0.71338606911949],"aabb_xy":[[-0.6300992126470639,-1.663644931077432],[-0.6124951020291185,-1.6480222787675738]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836731473405162,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/707.png","name":"707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/707.png","name":"707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8805.png","name":"8805"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5609.png","name":"5609"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8250.png","name":"8250"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":825.289174353875,"rotation_z_degrees":25.39615836307796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009786442744812144,0.00822072237566835,0.01991814965099469]},{"name":"camera_2","offset_m":[-0.0022745675702243104,0.01197396397494421,0.01090114704912399]},{"name":"camera_3","offset_m":[0.0014050724314536474,-0.007222397615064687,0.003216436383908401]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001944937597769863,-0.00010992027410558036,-0.00017064277262672425],"end_effector_yaw_offset_degrees":0.47975001008515394},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018021936865475153,-0.0018408328275149476,-0.001911876568519348],"end_effector_yaw_offset_degrees":-0.522314044542949},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019088833188404962,0.0017496712366503273,0.0005090344144325892],"end_effector_yaw_offset_degrees":0.6957306675598955}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022238922816366037,-0.00374153642467111],"position_m":[0.3510761077183634,0.2136584635753289,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035632150423937593,-0.004055022760334446],"position_m":[0.26753678495760624,-0.3423550227603344,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00038091999054722363,-0.0029574014332172695],"position_m":[0.30208091999054726,0.37434259856678276,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00389039293755165,0.004317256473886563],"position_m":[0.35350960706244833,0.06901725647388655,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2c1ead9c0ada5571d140da3ebf9ad0b9a578514848078b385bae19e7f5fc086","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_707/tex_ceiling_textures_8250/tex_floor_textures_5609/tex_table_textures_8805/tex_wall_textures_6552","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7576636013548961688,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7576636013548961688,"visual_seed":7576636013548961688,"scene_id":"lab_003","finished_at":"2026-09-04T04:56:37"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T04:56:42","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.15590407226643532,1.0693746579376113,0.71338606911949],"aabb_xy":[[0.10590407098259534,1.019395803546989],[0.20590407355027526,1.1193535123282332]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.3466218901008211,-2.442798254897343,0.71338606911949],"aabb_xy":[[-0.38412188852422147,-2.4559624688651738],[-0.30912189167742077,-2.4296340409295123]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.4450446199181462,-1.2550094460440737,0.71338606911949],"aabb_xy":[[-0.5250446185750322,-1.2695143049683364],[-0.3650446212612602,-1.240504587119811]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.4114989169783832,0.47996722384503565,0.71338606911949],"aabb_xy":[[-0.4914989143819766,0.39997465264685284],[-0.3314989195747898,0.5599597950432185]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.4927085694441864,-1.7575197082634912,0.71338606911949],"aabb_xy":[[0.4886304115371366,-1.7616006885117543],[0.4967867273512361,-1.7534387280152277]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.2803036638424145,-1.5627071753150774,0.71338606911949],"aabb_xy":[[-0.3379341327296853,-1.6227071742417873],[-0.2226731949551436,-1.5027071763883662]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.105973626177152,-0.08620791123518501,0.71338606911949],"aabb_xy":[[-0.151144944025321,-0.15020790837972342],[-0.06080230832898305,-0.022207914090646586]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.22186148619515422,-1.9980178251707195,0.71338606911949],"aabb_xy":[[0.15786148581762058,-2.0477630920215315],[0.28586148657268784,-1.9482725583199074]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.7055037449589738,1.6565502023899197,0.71338606911949],"aabb_xy":[[0.6866193611904636,1.6376642776095667],[0.724388128727484,1.6754361271702722]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.4220234427058509,-1.5061331720785496,0.71338606911949],"aabb_xy":[[0.37489406370401523,-1.5701331731229513],[0.4691528217076866,-1.4421331710341474]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.2866769183083696,-0.5672372251117084,0.71338606911949],"aabb_xy":[[0.27797895601765427,-0.5793621994191832],[0.29537488059908484,-0.5551122508042338]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.6586889789865977,-0.8897068380587001,0.71338606911949],"aabb_xy":[[0.597098219762605,-0.9537068361677472],[0.7202797382105907,-0.8257068399496534]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[0.4651799338012852,0.4105713074405979,0.71338606911949],"aabb_xy":[[0.41018672246414845,0.35557130710180423],[0.5201731451384219,0.4655713077793915]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.06493597090795455,0.44341726649024205,0.71338606911949],"aabb_xy":[[-0.10084947533294424,0.40750375827348745],[-0.029022466482964873,0.47933077470699664]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.5082807317205396,1.2614929005165845,0.71338606911949],"aabb_xy":[[-0.5201528147320407,1.1764929008229341],[-0.49640864870903845,1.3464929002102348]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.43195257391209657,0.020832994843466235,0.71338606911949],"aabb_xy":[[-0.5219525704129684,-0.025078647574992004],[-0.3419525774112248,0.06674463726192446]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.6583686980255472,0.24421645079977905,0.71338606911949],"aabb_xy":[[0.6208686980817808,0.23592336076494247],[0.6958686979693136,0.25250954083461563]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.5475004464632791,0.04847508629645114,0.71338606911949],"aabb_xy":[[0.4835004461893009,-0.001591013900836831],[0.6115004467372573,0.09854118649373911]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.2361598730787718,1.7029385524242069,0.71338606911949],"aabb_xy":[[-0.2911598722553613,1.647948877649249],[-0.1811598739021823,1.7579282271991643]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.4122061844932787,-1.9937634828807895,0.71338606911949],"aabb_xy":[[-0.4177878561274074,-2.0062634826985652],[-0.40662451285914986,-1.981263483063014]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.6056877990619007,0.7287053069722735,0.71338606911949],"aabb_xy":[[-0.6136817876396041,0.7207052268771832],[-0.5976938104841973,0.7367053870673639]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.5134657051806586,0.9376985703303631,0.71338606911949],"aabb_xy":[[0.44346570178909656,0.9023827966269321],[0.5834657085722205,0.9730143440337938]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.479705058557661,0.731830031701568,0.71338606911949],"aabb_xy":[[0.3997050571275338,0.6523128766889585],[0.5597050599877882,0.8113471867141775]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.3134025922906105,1.4971702487290517,0.71338606911949],"aabb_xy":[[0.2634077593626689,1.4471702498338084],[0.3633974252185521,1.5471702476242954]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[0.6340196111010452,-1.9727897060497783,0.71338606911949],"aabb_xy":[[0.5890196096348164,-2.0177895629112594],[0.6790196125672741,-1.9277898491882979]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.3275925756662965,0.8609726712346126,0.71338606911949],"aabb_xy":[[0.3194789209929194,0.8528668547805835],[0.3357062303396736,0.8690784876886417]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.024569945339953714,-2.2302424868437845,0.71338606911949],"aabb_xy":[[-0.08956994537425644,-2.276943163524112],[0.040430054694349016,-2.1835418101634576]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.6299303921690206,-1.5920259381920325,0.71338606911949],"aabb_xy":[[-0.6407708703955355,-1.609212219482681],[-0.6190899139425057,-1.5748396569013836]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[0.464731776819175,-2.214739617110999,0.71338606911949],"aabb_xy":[[0.4360824444587587,-2.2433851763880743],[0.49338110917959116,-2.1860940578339227]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[0.6706257979495034,-1.3873096746726667,0.71338606911949],"aabb_xy":[[0.620641562241326,-1.4373096734861623],[0.7206100336576805,-1.3373096758591712]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[-0.2480425274012948,-1.9260066842346968,0.71338606911949],"aabb_xy":[[-0.25607886210257963,-1.9340448035391133],[-0.24000619270000995,-1.9179685649302798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839867330167477,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1207.png","name":"1207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6421.png","name":"6421"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9077.png","name":"9077"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":544.3880197863971,"rotation_z_degrees":110.0304229684721,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014055435233055726,-0.005412302604408836,0.0027388083927871697]},{"name":"camera_2","offset_m":[0.0031025200848330235,-0.010821935794801786,0.00954133398254231]},{"name":"camera_3","offset_m":[-0.014005754418664789,-0.012129802323469635,0.0037565582078094607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005680025200923114,-0.0003906604098666757,0.0010765431693168528],"end_effector_yaw_offset_degrees":-0.7974030549159787},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016712526608176014,0.0014087568423814343,-0.0016498393220294675],"end_effector_yaw_offset_degrees":-0.7927407524607106},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019686409866127848,5.2905920808303964e-05,0.001332199891878695],"end_effector_yaw_offset_degrees":0.22880568384247968}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0048681874307932175,-0.004196274281019833],"position_m":[0.3484318125692068,0.21320372571898016,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005632215472142843,0.002107327558518498],"position_m":[0.2716632215472143,-0.3361926724414815,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003513086280251242,0.0034905852677844127],"position_m":[0.29818691371974876,0.3807905852677844,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00021487949061855215,0.0028483590223680926],"position_m":[0.35718512050938145,0.06754835902236808,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ecec6f646b3a95cf5d492e5cef3b2379e1d23a2671b35491ea2e3910d179a030","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4788/tex_ceiling_textures_9548/tex_floor_textures_9077/tex_table_textures_1207/tex_wall_textures_6421","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":942125545757622872,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":942125545757622872,"visual_seed":942125545757622872,"scene_id":"lab_003","finished_at":"2026-09-04T04:59:34"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T04:59:37","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.2866177128463489,-1.0458107689226173,0.71338606911949],"aabb_xy":[[-0.3066761244595892,-1.065875855831775],[-0.2665593012331086,-1.0257456820134596]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.02251316718399321,0.7660655104883638,0.71338606911949],"aabb_xy":[[-0.0061361651764230175,0.7374199512112879],[0.051162499544409434,0.7947110697654395]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.3323342164256622,-1.8927332016051577,0.71338606911949],"aabb_xy":[[-0.41233421440644724,-1.9003347425670098],[-0.25233421844487713,-1.885131660643306]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.6862163646589632,1.4317438949942072,0.71338606911949],"aabb_xy":[[0.6659320619355643,1.4114612698514983],[0.7065006673823618,1.452026520136916]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.07645785383112369,-1.80190622490871,0.71338606911949],"aabb_xy":[[-0.013542144763346253,-1.8181568112221311],[0.16645785242559363,-1.785655638595289]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.14654844016372148,1.7824035643759513,0.71338606911949],"aabb_xy":[[-0.2115484401980242,1.735702887695624],[-0.08154844012941875,1.8291042410562786]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.3423980289828088,-1.6072947366575856,0.71338606911949],"aabb_xy":[[-0.4063980308951512,-1.6632058859155963],[-0.2783980270704665,-1.5513835873995754]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.5513924262770886,0.9243857775406568,0.71338606911949],"aabb_xy":[[0.5013924249932485,0.8744069231500347],[0.6013924275609285,0.9743646319312789]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.4304818506986692,-1.5393633851447508,0.71338606911949],"aabb_xy":[[0.4203288351445197,-1.5754329267174907],[0.44063486625281845,-1.50329384357201]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.2605326162970132,-2.2960273184984485,0.71338606911949],"aabb_xy":[[0.25118560871471796,-2.3103309407160926],[0.2698796238793084,-2.2817236962808045]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.5219850463810355,1.4213602700144876,0.71338606911949],"aabb_xy":[[-0.6069850450731101,1.3893744066196088],[-0.43698504768896085,1.4533461334093665]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.3534284249599313,-1.68892618765846,0.71338606911949],"aabb_xy":[[0.2894327275648347,-1.7529261859591685],[0.41742412235502785,-1.6249261893577511]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.3047787390057862,0.7220904636580889,0.71338606911949],"aabb_xy":[[0.2968554587670379,0.6995904634200857],[0.31270201924453456,0.7445904638960924]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.24226660615471562,0.9784763169212694,0.71338606911949],"aabb_xy":[[-0.2514264850985922,0.9719450988777322],[-0.23310672721083903,0.9850075349648063]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.4518587645376895,-0.4471340644125239,0.71338606911949],"aabb_xy":[[0.4273451404406836,-0.47139865771456035],[0.47637238863469533,-0.42286947111048745]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.37182713064676265,0.9165666508993127,0.71338606911949],"aabb_xy":[[-0.43582713090723346,0.8715578515463847],[-0.30782713038629184,0.9615754502522407]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.06304712763936837,1.0285567606971915,0.71338606911949],"aabb_xy":[[-0.08933595195980902,1.00228532704254],[-0.0367583033189277,1.0548281943518425]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.4594790763803154,1.0921110389075928,0.71338606911949],"aabb_xy":[[0.395479074702318,1.0435936474282785],[0.5234790780583127,1.140628430386907]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.5957953955855027,0.37818269606670407,0.71338606911949],"aabb_xy":[[0.5057953919085842,0.3167502894895996],[0.6857953992624206,0.43961510264380826]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.1897418957354815,-1.3343557518835398,0.71338606911949],"aabb_xy":[[-0.2697418943228009,-1.4136713538217005],[-0.10974189714816206,-1.2550401499453787]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.1600854005081026,1.3544622790417158,0.71338606911949],"aabb_xy":[[-0.19056965063513276,1.30446227926022],[-0.12960115038107245,1.404462278823212]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.186637720664926,-1.974014222479793,0.71338606911949],"aabb_xy":[[0.1699605846718305,-1.9907141464537232],[0.20331485665802151,-1.9573142985058627]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.04352087485932543,-0.6487659258037559,0.71338606911949],"aabb_xy":[[0.0258452442707271,-0.6664461420831587],[0.061196505447923766,-0.6310857095243532]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.47178735913712094,-1.7603009677788202,0.71338606911949],"aabb_xy":[[-0.4892872925711043,-1.7778009676990547],[-0.45428742570313757,-1.7428009678585856]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.6334140874437071,-1.6798351585432834,0.71338606911949],"aabb_xy":[[0.6246328602964709,-1.688614905831814],[0.6421953145909435,-1.671055411254754]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.28635452113967064,-1.1736769112216712,0.71338606911949],"aabb_xy":[[0.26934442384961993,-1.1898113997199449],[0.30336461842972123,-1.157542422723397]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.005061176162276526,1.2824023275489584,0.71338606911949],"aabb_xy":[[-0.012438823115810349,1.2650642274826125],[0.0225611754403634,1.2997404276153044]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[-0.607671635909466,0.9521882110453244,0.71338606911949],"aabb_xy":[[-0.6716716382522675,0.9072473598011919],[-0.5436716335666644,0.9971290622894569]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[-0.044036348732930164,0.9242542594745453,0.71338606911949],"aabb_xy":[[-0.04846697808777034,0.9188058877398627],[-0.03960571937808999,0.9297026312092279]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[0.5945097077970787,1.4073920670894307,0.71338606911949],"aabb_xy":[[0.5905492240273443,1.3997242025039103],[0.598470191566813,1.4150599316749515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855104925086416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3745.png","name":"3745"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3745.png","name":"3745"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8671.png","name":"8671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8809.png","name":"8809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5669.png","name":"5669"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8320.png","name":"8320"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":515.2623059763735,"rotation_z_degrees":78.51101101236006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009765177111145905,0.01883195964861949,0.006707516027305092]},{"name":"camera_2","offset_m":[-0.014854843891463857,-0.010817564330399595,-0.01698550336447557]},{"name":"camera_3","offset_m":[0.010622105208413227,-0.0022997571418600024,-0.013222030379528418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014284591654301721,0.0006265955573848047,-0.0013497374435455201],"end_effector_yaw_offset_degrees":0.44355402595073734},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017381191445516074,0.000996062112603785,0.0007511069104248077],"end_effector_yaw_offset_degrees":0.9792427538990869},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010528274934198415,0.0007470652826906269,0.0010786712423244355],"end_effector_yaw_offset_degrees":-0.5520346287015325}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022417067245731294,0.0029153980122786005],"position_m":[0.35554170672457314,0.22031539801227862,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00176373130021486,-0.0026776618090347992],"position_m":[0.26933626869978516,-0.34097766180903477,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018834223850335173,-0.0018979747034555128],"position_m":[0.30358342238503355,0.37540202529654454,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015660573906836313,-0.0023818085768311835],"position_m":[0.3589660573906836,0.06231819142316881,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27c3c0a662fa4acf805a993c436e194d244a90099c2ac19906f02c34691d395b","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3745/tex_ceiling_textures_8320/tex_floor_textures_5669/tex_table_textures_8671/tex_wall_textures_8809","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2996918337417304472,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2996918337417304472,"visual_seed":2996918337417304472,"scene_id":"lab_003","finished_at":"2026-09-04T05:02:28"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T05:02:31","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.6619248831501239,-2.3352917374171005,0.71338606911949],"aabb_xy":[[0.6069248839735343,-2.3902814121920577],[0.7169248823267133,-2.2803020626421424]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.20935956413456613,-2.2937606548415994,0.71338606911949],"aabb_xy":[[0.181514527353959,-2.3245451535799115],[0.23720460091517326,-2.262976156103288]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.5154139544343541,1.6880230474666775,0.71338606911949],"aabb_xy":[[0.4254139507574358,1.6265906408895727],[0.6054139581112722,1.7494554540437814]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.6129051798273137,-1.292447702004336,0.71338606911949],"aabb_xy":[[-0.6669207761092136,-1.356447704896593],[-0.5588895835454136,-1.2284476991120787]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.4983571784138878,1.0274320586621615,0.71338606911949],"aabb_xy":[[-0.5333571766840077,1.0203579309671733],[-0.4633571801437679,1.0345061863571496]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.3641113530708221,-0.41476518540115404,0.71338606911949],"aabb_xy":[[-0.42911135417676544,-0.4397305584692824],[-0.29911135196487887,-0.3897998123330258]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.09661912971910747,-1.1114198511884887,0.71338606911949],"aabb_xy":[[-0.17661912769989252,-1.1190213921503407],[-0.016619131738322437,-1.1038183102266368]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.2421352133385914,-0.12378292083186171,0.71338606911949],"aabb_xy":[[-0.25083317562930674,-0.13590789513933643],[-0.23343725104787613,-0.111657946524387]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.4714520121075352,-1.378872526084781,0.71338606911949],"aabb_xy":[[0.4571175869813717,-1.3909327416393198],[0.48578643723369863,-1.366812310530242]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.140969416221157,0.7855799788976978,0.71338606911949],"aabb_xy":[[0.10346941779775665,0.7724157649298671],[0.17846941464455734,0.7987441928655283]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.6558975274334178,1.3462074114764797,0.71338606911949],"aabb_xy":[[-0.6845468597938339,1.3175618521994037],[-0.6272481950730014,1.3748529707535553]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.45838087058599997,-2.3480408394082968,0.71338606911949],"aabb_xy":[[0.44661268379134256,-2.4330408393135183],[0.4701490573806576,-2.263040839503075]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.3246707683250756,-1.6522110146946019,0.71338606911949],"aabb_xy":[[-0.3698420861732446,-1.7162110118391407],[-0.27949945047690666,-1.5882110175500639]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.6299777760432494,1.7552931617121206,0.71338606911949],"aabb_xy":[[-0.6545239916660002,1.7250442651630837],[-0.6054315604204987,1.7855420582611579]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.14118795399931539,-1.6351636940450684,0.71338606911949],"aabb_xy":[[0.05118795166529633,-1.712646048630181],[0.23118795633333444,-1.5576813394599558]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[-0.611453946549265,0.3248275143655732,0.71338606911949],"aabb_xy":[[-0.6489539473412604,0.3184596734073831],[-0.5739539457572695,0.3311953553237633]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.5161293152292004,-2.0466215188936427,0.71338606911949],"aabb_xy":[[0.4361293130664379,-2.1265767025197864],[0.5961293173919628,-1.9666663352674991]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[0.49002860742650345,1.482725056724131,0.71338606911949],"aabb_xy":[[0.4350286092247586,1.4422030900976934],[0.5450286056282483,1.5232470233505686]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.5788269302644733,0.19828481300625134,0.71338606911949],"aabb_xy":[[-0.615322750891752,0.16180087057949372],[-0.5423311096371946,0.23476875543300885]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.22982997196578037,1.4991151022622273,0.71338606911949],"aabb_xy":[[0.22569411563308014,1.4616151028178703],[0.23396582829848053,1.5366151017065843]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.5789148827379773,-0.4957813264351998,0.71338606911949],"aabb_xy":[[0.5149148835682072,-0.5425480135541623],[0.6429148819077471,-0.44901463931623736]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.366239160985777,-0.11510699551969239,0.71338606911949],"aabb_xy":[[-0.4012391609622728,-0.124571611567309],[-0.33123916100928114,-0.10564237947207578]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[-0.35458154204015446,-1.23930020740087,0.71338606911949],"aabb_xy":[[-0.4045548360434148,-1.2893002079554172],[-0.3046082480368939,-1.1893002068463225]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.4937620074052437,0.6192977590668529,0.71338606911949],"aabb_xy":[[-0.5537620080012599,0.5644852865216294],[-0.4337620068092275,0.6741102316120764]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.35587187993008157,0.4611654120428512,0.71338606911949],"aabb_xy":[[-0.3646739352390542,0.4533540858879221],[-0.3470698246211088,0.46897673819778024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883940188161337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4663.png","name":"4663"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4663.png","name":"4663"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8083.png","name":"8083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3704.png","name":"3704"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3878.png","name":"3878"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":840.8555487076542,"rotation_z_degrees":193.87336773424346,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01024972221478949,0.009849367957467586,0.0019027491967430442]},{"name":"camera_2","offset_m":[-0.004877060873101252,0.013642992364124178,0.0020402440518696267]},{"name":"camera_3","offset_m":[0.005438621302185004,0.0033318800598742503,-0.006920403446097319]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001576912722211987,-0.00018574507803259315,0.0008303388657634339],"end_effector_yaw_offset_degrees":-0.8653280593402128},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009630697962553819,0.0006491781929103446,0.0015465886974873433],"end_effector_yaw_offset_degrees":-0.8205628353037975},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008787080230483312,0.0008693686250835038,-0.001693781423564683],"end_effector_yaw_offset_degrees":0.5065579942508904}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[5.805709910120492e-06,0.004596188081976622],"position_m":[0.3533058057099101,0.22199618808197663,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004761146212886328,0.00150261115014307],"position_m":[0.2758611462128863,-0.33679738884985694,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00486263204581444,-0.0011858629371422837],"position_m":[0.30656263204581446,0.37611413706285773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002846580584824533,-0.0024064146428230695],"position_m":[0.3545534194151755,0.062293585357176925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba598b69c0a2c8dbd55b3963e935b3e8d189f7599c110366a81b6b8aac863cd6","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4663/tex_ceiling_textures_3878/tex_floor_textures_3704/tex_table_textures_8083/tex_wall_textures_2390","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6171678367496343379,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6171678367496343379,"visual_seed":6171678367496343379,"scene_id":"lab_003","finished_at":"2026-09-04T05:05:21"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T05:05:26","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.2790556867465208,1.174508357266728,0.71338606911949],"aabb_xy":[[0.26712295238469275,1.1621262044588687],[0.2909884211083489,1.1868905100745875]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.15293099442642433,1.569720100168945,0.71338606911949],"aabb_xy":[[-0.1873933418245661,1.5352262177711218],[-0.11846864702828251,1.6042139825667672]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.6282398441659721,-1.2893169770074338,0.71338606911949],"aabb_xy":[[-0.6657398439830058,-1.2939551883185754],[-0.5907398443489387,-1.2846787656962917]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.2666303700753256,1.7443885954951015,0.71338606911949],"aabb_xy":[[-0.3216303696970714,1.6894049027076288],[-0.21163037045357974,1.7993722882825742]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.6247674541864925,0.9346682771321269,0.71338606911949],"aabb_xy":[[-0.6341849287563552,0.9252520999944077],[-0.6153499796166297,0.9440844542698458]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.4357459741870222,1.2259535434006468,0.71338606911949],"aabb_xy":[[-0.4475141609816799,1.1409535434954252],[-0.42397778739236486,1.3109535433058683]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.07685391430449118,-0.6371782766552252,0.71338606911949],"aabb_xy":[[-0.131853912506236,-0.6777002432816627],[-0.021853916102746337,-0.5966563100287875]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.22119346866446932,1.3698824153732296,0.71338606911949],"aabb_xy":[[0.2065500631104363,1.3552236957164452],[0.23583687421850227,1.3845411350300136]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.5893078378184777,-0.4426172669814923,0.71338606911949],"aabb_xy":[[0.5543078379224589,-0.45099150249343223],[0.6243078377144966,-0.43424303146955234]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.4778398255632703,0.30017076917186314,0.71338606911949],"aabb_xy":[[0.4328398240970415,0.25517091231038247],[0.5228398270294992,0.3451706260333438]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.32211838419626604,0.6894703036108067,0.71338606911949],"aabb_xy":[[-0.35961838486084463,0.6737832456105843],[-0.2846183835316872,0.7051573616110287]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.5726159600346711,1.3395109937283283,0.71338606911949],"aabb_xy":[[-0.6225933768999246,1.2895109922390797],[-0.5226385431694174,1.3895109952175768]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.5854555975072786,0.5919713705957972,0.71338606911949],"aabb_xy":[[0.5629564617810516,0.5694713698175342],[0.6079547332335056,0.6144713713740602]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.601215855279664,1.525770352341857,0.71338606911949],"aabb_xy":[[0.559911312215928,1.4617703527737398],[0.6425203983434,1.589770351909974]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.09445530935776913,-0.9106699335313564,0.71338606911949],"aabb_xy":[[0.024455307549023697,-0.9320237022955437],[0.16445531116651457,-0.8893161647671689]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.10058587059946777,0.9028098900299324,0.71338606911949],"aabb_xy":[[-0.12308587084298318,0.8906052553701604],[-0.0780858703559524,0.9150145246897043]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.66310930330991,-0.2777164365680149,0.71338606911949],"aabb_xy":[[0.6430508916966697,-0.2977815234771724],[0.6831677149231503,-0.25765134965885733]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.5666377977480594,-0.7968025581285487,0.71338606911949],"aabb_xy":[[0.48663780058848416,-0.8083501590863658],[0.6466377949076347,-0.7852549571707317]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.21749419856318647,0.35450797862917627,0.71338606911949],"aabb_xy":[[-0.2548254750884291,0.319854923834324],[-0.18016292203794385,0.38916103342402864]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.1859152334260551,-2.2126995225619703,0.71338606911949],"aabb_xy":[[-0.19087125361093635,-2.235199522764092],[-0.18095921324117392,-2.1901995223598485]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.12249736433738734,0.7938139967374744,0.71338606911949],"aabb_xy":[[-0.17249219726532894,0.743813997842231],[-0.07250253140944575,0.8438139956327181]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.08147960070792015,-1.80379509682261,0.71338606911949],"aabb_xy":[[0.05647960077540226,-1.8106777650435333],[0.10647960064043804,-1.7969124286016867]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.11514704308784995,-0.7804363790170401,0.71338606911949],"aabb_xy":[[0.06515203212839794,-0.8304363780526319],[0.165142054047302,-0.7304363799814484]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[0.22560413679392155,-1.126713594695499,0.71338606911949],"aabb_xy":[[0.1881041382183007,-1.1394498903590566],[0.26310413536954225,-1.1139772990319408]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[0.5837173614001971,-2.360181443722072,0.71338606911949],"aabb_xy":[[0.5037173609299813,-2.36849215133642],[0.6637173618704132,-2.3518707361077236]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[-0.5531427705740717,-0.045646070495307,0.71338606911949],"aabb_xy":[[-0.5700535030104134,-0.05911827608792153],[-0.5362320381377298,-0.03217386490269247]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.4023130506349619,0.15138032407884783,0.71338606911949],"aabb_xy":[[-0.4093545015857096,0.14435357234105328],[-0.3952715996842144,0.15840707581664237]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[0.3816767105348784,-2.182071027963884,0.71338606911949],"aabb_xy":[[0.3166767095777512,-2.2340192398975898],[0.4466767114920056,-2.1301228160301786]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.2070374871850006,1.659060279178615,0.71338606911949],"aabb_xy":[[0.18575947904152834,1.594060276852542],[0.22831549532847284,1.7240602815046882]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[0.40017445497441795,0.6249915752638313,0.71338606911949],"aabb_xy":[[0.35019021926624067,0.5749915764503357],[0.4501586906825951,0.6749915740773269]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[0.5837799815123192,-2.114449308006188,0.71338606911949],"aabb_xy":[[0.5789363867510894,-2.1193009604851722],[0.5886235762735493,-2.109597655527204]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_31","position":[-0.5104065474244034,-0.5579044133563769,0.71338606911949],"aabb_xy":[[-0.5531732543038236,-0.6219044167781793],[-0.4676398405449832,-0.4939044099345744]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[0.4264613172015894,0.8574922029547736,0.71338606911949],"aabb_xy":[[0.4105768239362643,0.8431392626559494],[0.4423458104669146,0.8718451432535975]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_33","position":[0.3939239465545954,-1.891386171381134,0.71338606911949],"aabb_xy":[[0.3299282491594988,-1.9553861696818426],[0.457919643949692,-1.8273861730804253]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_34","position":[0.16572430171564334,-1.471487644674877,0.71338606911949],"aabb_xy":[[0.13787926493503622,-1.5022721434131887],[0.19356933849625046,-1.4407031459365653]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864715174329344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3657.png","name":"3657"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9502.png","name":"9502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4438.png","name":"4438"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":669.4995504045028,"rotation_z_degrees":92.40503191625717,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018338549857743847,-0.014846065319717883,0.005837028073226624]},{"name":"camera_2","offset_m":[-0.017964280473761033,0.007393260121138834,0.01585762188445915]},{"name":"camera_3","offset_m":[-4.77583549436042e-05,0.013947420168606731,-0.01789783934963408]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006648008399810072,-0.0011421721325442368,-0.0006036773721657905],"end_effector_yaw_offset_degrees":0.8287990308380229},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011134540810792373,0.0010338081579749489,-4.492160187628564e-05],"end_effector_yaw_offset_degrees":-0.6824946647633707},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011755465813845052,0.00010177271025032988,0.000900141384681244],"end_effector_yaw_offset_degrees":-0.0256847892858032}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026632098833000144,0.0007634347062462753],"position_m":[0.3559632098833,0.21816343470624627,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002281085274903877,0.0027194772801257027],"position_m":[0.2688189147250961,-0.33558052271987426,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008160344913796047,0.0014723883971475785],"position_m":[0.30251603449137965,0.3787723883971476,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002263698075442564,0.003947411569980516],"position_m":[0.3551363019245574,0.06864741156998051,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4603a2c63e62f190bf2e7f9c117f3b7f9207f50a8a8bb03f521188bad2c9f51c","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6373/tex_ceiling_textures_4438/tex_floor_textures_2890/tex_table_textures_3657/tex_wall_textures_9502","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5860366355010961660,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5860366355010961660,"visual_seed":5860366355010961660,"scene_id":"lab_003","finished_at":"2026-09-04T05:08:27"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T05:08:30","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.2527529111977982,-2.465763712153365,0.71338606911949],"aabb_xy":[[-0.307752909399543,-2.5062856787798022],[-0.19775291299605333,-2.425241745526927]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.3769794383026108,-1.833371425344155,0.71338606911949],"aabb_xy":[[0.3219862269654741,-1.8883714256829491],[0.43197264963974763,-1.778371425005362]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.09718197412106155,-1.0799118113663837,0.71338606911949],"aabb_xy":[[-0.1521742247565725,-1.1349118131096967],[-0.042189723485550605,-1.0249118096230712]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.10415744731692222,1.1502980299101475,0.71338606911949],"aabb_xy":[[0.07550811495650599,1.1216524706330713],[0.13280677967733845,1.1789435891872229]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.6032832656972296,-0.25486368994212105,0.71338606911949],"aabb_xy":[[-0.6460499725766498,-0.3188636933639235],[-0.5605165588178094,-0.1908636865203186]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.33835104131643035,0.5741776432922858,0.71338606911949],"aabb_xy":[[-0.4023510399030028,0.5271706798927772],[-0.2743510427298579,0.6211846066917946]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.09298643063353385,0.6499033201231357,0.71338606911949],"aabb_xy":[[0.0853621625433556,0.642270096586592],[0.1006106987237121,0.6575365436596794]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.015041218812171464,-2.310782774509666,0.71338606911949],"aabb_xy":[[-0.029375643938334917,-2.322842990064204],[-0.0007067936860080115,-2.298722558955127]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.6045464142578906,0.7159485388921052,0.71338606911949],"aabb_xy":[[-0.6345139711677162,0.6859485385942194],[-0.5745788573480649,0.7459485391899909]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.541147914486196,-0.08334884659443365,0.71338606911949],"aabb_xy":[[-0.6011479147375972,-0.1376301716308983],[-0.48114791423479486,-0.02906752155796899]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.4479773572820852,1.5155857538518718,0.71338606911949],"aabb_xy":[[-0.511977356451855,1.4688190667329093],[-0.38397735811231526,1.5623524409708343]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.6756842492184045,-1.6789016489844417,0.71338606911949],"aabb_xy":[[-0.6908471221953416,-1.694067106279561],[-0.6605213762414675,-1.6637361916893234]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.36649087439747574,-2.110387786095585,0.71338606911949],"aabb_xy":[[0.3414908752318427,-2.1173400318009414],[0.3914908735631089,-2.1034355403902283]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.5572433572607973,-0.9346638503449001,0.71338606911949],"aabb_xy":[[0.47724336010122204,-0.9462114513027171],[0.6372433544203726,-0.923116249387083]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.5055847249988437,-0.44510274001231087,0.71338606911949],"aabb_xy":[[0.4556114309955831,-0.49510274056685816],[0.555558019002104,-0.3951027394577635]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.07397307339036963,-1.2279047799677354,0.71338606911949],"aabb_xy":[[0.051473073380221335,-1.2420009996073387],[0.09647307340051792,-1.2138085603281321]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[-0.604242517564131,0.8281607963395952,0.71338606911949],"aabb_xy":[[-0.6122365061418344,0.8201607162445047],[-0.5962485289864277,0.8361608764346854]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.3460799813737805,-1.7768930618081882,0.71338606911949],"aabb_xy":[[-0.40607998223459324,-1.8283194918146743],[-0.2860799805129676,-1.7254666318017016]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.46093645749350365,0.27517556177050473,0.71338606911949],"aabb_xy":[[-0.48593645742602154,0.26829289354958136],[-0.43593645756098576,0.282058229991428]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.31912585407482097,0.8344707832876437,0.71338606911949],"aabb_xy":[[0.315422592745682,0.8307687649789257],[0.3228291154039598,0.8381728015963614]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.5277704156814003,-1.0497077254216067,0.71338606911949],"aabb_xy":[[0.4701399467941293,-1.1097077243483169],[0.585400884568671,-0.9897077264948957]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.164720544807749,-0.5203691078757458,0.71338606911949],"aabb_xy":[[-0.17005305946236202,-0.5256934361209813],[-0.15938803015313605,-0.5150447796305102]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.4317403092250942,-0.03801039370227688,0.71338606911949],"aabb_xy":[[0.4208345331375314,-0.11801039010110603],[0.4426460853126568,0.04198960269655228]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.5719482698726666,-0.26604830248743605,0.71338606911949],"aabb_xy":[[0.49194826660865343,-0.2796083347963494],[0.6519482731366797,-0.2524882701785227]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.38846581180589396,-0.9510050966671415,0.71338606911949],"aabb_xy":[[-0.46846581323602116,-1.0305222516797508],[-0.30846581037576676,-0.8714879416545318]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[-0.5812438593454938,1.1416001074569557,0.71338606911949],"aabb_xy":[[-0.6612438596191007,1.068650559631239],[-0.5012438590718867,1.2145496552826724]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_26","position":[-0.19390084682324638,0.5872949309675661,0.71338606911949],"aabb_xy":[[-0.2242989579223899,0.5568880289658966],[-0.16350273572410273,0.6177018329692356]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[0.4328272873342123,1.5904971764421272,0.71338606911949],"aabb_xy":[[0.3850211197204435,1.525497173735068],[0.4806334549479808,1.655497179149186]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[0.13816547047439454,-1.3401233344731698,0.71338606911949],"aabb_xy":[[0.13332187571316456,-1.344974986952154],[0.1430090652356245,-1.3352716819941857]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[0.1278111668780002,-1.6338042011056733,0.71338606911949],"aabb_xy":[[0.06381116547000955,-1.685593152629598],[0.19181116828599087,-1.5820152495817486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863310282676294,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2692.png","name":"2692"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2692.png","name":"2692"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4995.png","name":"4995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4079.png","name":"4079"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5280.png","name":"5280"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/96.png","name":"96"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":558.4453723736012,"rotation_z_degrees":158.02250815443887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007390539133716376,0.0035109611895815067,0.011323825074496082]},{"name":"camera_2","offset_m":[-0.004408084431228931,0.015376470959748149,0.0019725737909216425]},{"name":"camera_3","offset_m":[-0.010393820869226689,-0.012678502965754204,-0.0172957947732175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005580231644553985,0.0016971210794683761,-0.0017480501644150767],"end_effector_yaw_offset_degrees":-0.522924245017756},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009631932610443998,-0.0005559308495919847,-0.0003208498120254833],"end_effector_yaw_offset_degrees":-0.3653450614433229},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008824028924220375,-0.0016814075207819462,-0.0016674715634771165],"end_effector_yaw_offset_degrees":0.9952212953254453}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004535427779510672,-0.0014673714511901125],"position_m":[0.35783542777951066,0.2159326285488099,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004575129019558619,0.004750294095724579],"position_m":[0.26652487098044136,-0.3335497059042754,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005593997194864274,0.001605591824982027],"position_m":[0.30225939971948645,0.37890559182498207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016495812512839804,-0.00438017964064211],"position_m":[0.355750418748716,0.06031982035935789,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"30b0d0d5803b9d27e4e05b20c83b17b3fe71b94eda8f59b15411ff1d5476f55c","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2692/tex_ceiling_textures_96/tex_floor_textures_5280/tex_table_textures_4995/tex_wall_textures_4079","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8984964357056040885,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8984964357056040885,"visual_seed":8984964357056040885,"scene_id":"lab_003","finished_at":"2026-09-04T05:11:19"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T05:11:22","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.690481596637458,-0.442283356564666,0.71338606911949],"aabb_xy":[[0.6832378305912127,-0.5222833547682684],[0.6977253626837033,-0.36228335836106357]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[0.32758079392281214,-1.757219850625383,0.71338606911949],"aabb_xy":[[0.2725853161021527,-1.8122198520592898],[0.3825762717434715,-1.702219849191476]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.46354004059211706,-0.22601360192343067,0.71338606911949],"aabb_xy":[[-0.5010400404091506,-0.2306518132345725],[-0.42604004077508345,-0.22137539061228878]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.594771110893764,-2.3822042968528407,0.71338606911949],"aabb_xy":[[-0.6079223568650535,-2.4072042966095273],[-0.5816198649224747,-2.357204297096154]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.31153403194949975,-1.5118495554303257,0.71338606911949],"aabb_xy":[[-0.33064633930747855,-1.5309843343075675],[-0.2924217245915208,-1.4927147765530835]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.07800449698710155,0.8153438365046588,0.71338606911949],"aabb_xy":[[-0.10051818881055874,0.7453438359036513],[-0.05549080516364435,0.8853438371056663]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.6097195234398375,-1.6345597844051172,0.71338606911949],"aabb_xy":[[-0.6138553797725378,-1.6720597838494744],[-0.6055836671071374,-1.5970597849607604]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[-0.11276521205539103,-1.31255547056075,0.71338606911949],"aabb_xy":[[-0.17776521208969376,-1.3592561472410774],[-0.04776521202108831,-1.2658547938804228]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.41905565968039044,-1.6889088333979727,0.71338606911949],"aabb_xy":[[-0.48305566038385983,-1.7349272158708937],[-0.3550556589769211,-1.6428904509250517]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.21861056443277005,1.5045559934960084,0.71338606911949],"aabb_xy":[[0.21365454424788885,1.4820559932938868],[0.22356658461765125,1.5270559936981303]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[0.16508156006782326,-1.1106775839410532,0.71338606911949],"aabb_xy":[[0.1474059294792249,-1.1283578002204557],[0.18275719065642157,-1.0929973676616502]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.6355964346152329,-0.7926299863711088,0.71338606911949],"aabb_xy":[[-0.6456781416938063,-0.8726299842632234],[-0.6255147275366594,-0.7126299884789941]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.4041883908811128,-2.2814115614225057,0.71338606911949],"aabb_xy":[[0.3241883887183503,-2.3613667450486493],[0.4841883930438753,-2.201456377796362]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.08364503520452693,1.1477618988719094,0.71338606911949],"aabb_xy":[[-0.14764503437429688,1.1009952117529467],[-0.01964503603475699,1.1945285859908716]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.5776499447343866,-1.8661084759211606,0.71338606911949],"aabb_xy":[[0.5298437771206179,-1.9311084786282193],[0.6254561123481552,-1.8011084732141014]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.34173402047357637,-2.4717359364461613,0.71338606911949],"aabb_xy":[[0.2917340218276551,-2.5216554801056232],[0.3917340191194975,-2.4218163927866985]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.08717734908190244,0.7069823284199956,0.71338606911949],"aabb_xy":[[0.07284292395573899,0.6949221128654567],[0.1015117742080659,0.7190425439745344]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.4273015623342674,1.212995488100162,0.71338606911949],"aabb_xy":[[-0.47443094133610303,1.1489954870557597],[-0.3801721833324317,1.2769954891445636]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.3784911389977359,-0.2795747237585733,0.71338606911949],"aabb_xy":[[-0.3824050121931584,-0.28832373916513004],[-0.3745772658023134,-0.2708257083520165]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.48046957841887583,-0.10681865858864814,0.71338606911949],"aabb_xy":[[-0.5444695757212221,-0.1511850855565049],[-0.4164695811165294,-0.06245223162079139]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.08646202839220907,-2.1332468925604067,0.71338606911949],"aabb_xy":[[-0.12396202957700184,-2.1376651152564667],[-0.04896202720741625,-2.1288286698643457]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.4496283429963601,-1.390186121718525,0.71338606911949],"aabb_xy":[[-0.539628342414731,-1.4235616185627145],[-0.3596283435779893,-1.356810624874335]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.2580123844636531,1.5984472948810748,0.71338606911949],"aabb_xy":[[-0.307991192973969,1.5484472948753558],[-0.2080335759533372,1.6484472948867934]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.19390686532223822,-2.5430409747558618,0.71338606911949],"aabb_xy":[[-0.2139652769354785,-2.5631060616650188],[-0.17384845370899793,-2.522975887846704]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.5099743045008267,0.8855136703746309,0.71338606911949],"aabb_xy":[[-0.5949743031929013,0.853527806979752],[-0.42497430580875206,0.9174995337695097]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.17532159118684643,-0.8464954396682747,0.71338606911949],"aabb_xy":[[0.15240587830179655,-0.8693997368046983],[0.19823730407189638,-0.8235911425318513]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.4840677034012577,-0.059119356244674126,0.71338606911949],"aabb_xy":[[0.45955407930425185,-0.08338394954671058],[0.5085813274982636,-0.034854762942637674]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[0.591397313849545,-0.30272916523642124,0.71338606911949],"aabb_xy":[[0.5630676039010047,-0.3071899074301383],[0.6197270237980852,-0.2982684230427042]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.349645881113271,-1.9310410227587602,0.71338606911949],"aabb_xy":[[0.3127953331762834,-1.9685410235817937],[0.3864964290502586,-1.8935410219357263]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836949950022193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/700.png","name":"700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6223.png","name":"6223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8194.png","name":"8194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4265.png","name":"4265"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":724.1530533282421,"rotation_z_degrees":191.21902488378532,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01544854798933518,-0.008820211809585072,0.019080842068998728]},{"name":"camera_2","offset_m":[-0.007179893454806848,-6.331739351433593e-05,-0.005578570836312533]},{"name":"camera_3","offset_m":[0.007185436013484935,-0.01839935319792101,-0.01576174682228815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013942649679908846,-0.0010452235066716678,0.001592711549912361],"end_effector_yaw_offset_degrees":0.6525466905462993},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.700968017631475e-06,-0.0004198510742045474,-0.0009554339593770304],"end_effector_yaw_offset_degrees":-0.4743442644629865},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001651877145265106,-0.00014151757867585557,0.0008974399362075051],"end_effector_yaw_offset_degrees":0.6606509739165847}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015726283703158882,-0.0005407426875456735],"position_m":[0.3517273716296841,0.21685925731245434,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015682830352199283,-0.002674021960324583],"position_m":[0.26953171696478007,-0.34097402196032456,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0040264311835465265,-0.0015256163624737863],"position_m":[0.2976735688164535,0.37577438363752624,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003837775449331703,0.00289397769816199],"position_m":[0.3612377754493317,0.06759397769816199,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"be74a37162483a29602cb26b9eae64603f7e2a67fb1d59351ee423185e9091cc","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8761/tex_ceiling_textures_4265/tex_floor_textures_8194/tex_table_textures_700/tex_wall_textures_6223","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2028072536518905826,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2028072536518905826,"visual_seed":2028072536518905826,"scene_id":"lab_003","finished_at":"2026-09-04T05:14:20"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T05:14:23","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.008736643533909016,1.4888472334320366,0.71338606911949],"aabb_xy":[[-0.0038901437532873357,1.4793011597304637],[0.021363430821105367,1.4983933071336095]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.35056700973948773,-1.2048062925402023,0.71338606911949],"aabb_xy":[[0.3005670087203524,-1.2412725082780303],[0.400567010758623,-1.1683400768023744]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.14302041062765325,0.5375550669682867,0.71338606911949],"aabb_xy":[[-0.15171837291836854,0.525430092660812],[-0.13432244833693796,0.5496800412757614]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.4745385076402445,-1.6766626581341595,0.71338606911949],"aabb_xy":[[-0.5095385059509399,-1.6843776730577054],[-0.439538509329549,-1.668947643210614]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.5987459949978371,1.6273187893347392,0.71338606911949],"aabb_xy":[[0.5922443584898326,1.6175509673084296],[0.6052476315058418,1.6370866113610492]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.36267404079045185,-2.034395516741346,0.71338606911949],"aabb_xy":[[0.28267403936032454,-2.113912671753955],[0.44267404222057893,-1.9548783617287362]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.5515215365830546,-2.5191469445365304,0.71338606911949],"aabb_xy":[[0.48752153517506397,-2.5709358960604547],[0.6155215379910453,-2.4673579930126053]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[0.31902512258336935,-0.885332596422139,0.71338606911949],"aabb_xy":[[0.25502512529772076,-0.9268393153749831],[0.38302511986901805,-0.8438258774692952]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.3383410710391145,0.18117864697068198,0.71338606911949],"aabb_xy":[[-0.3742545754641042,0.14526513875392735],[-0.3024275666141248,0.2170921551874366]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.49785303490705446,1.0759335948230855,0.71338606911949],"aabb_xy":[[-0.5518686311889545,1.0119335919308283],[-0.4438374386251544,1.1399335977153426]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.4116262362661963,-1.453729022266317,0.71338606911949],"aabb_xy":[[-0.4466262361622152,-1.462103257778257],[-0.37662623637017745,-1.4453547867543772]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.015895544615012525,-2.2476775094016244,0.71338606911949],"aabb_xy":[[0.00033977520474726136,-2.2632279426460316],[0.031451314025277795,-2.232127076157217]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.11317259535986568,-1.9993570097018405,0.71338606911949],"aabb_xy":[[-0.18317259749129516,-2.022118975327536],[-0.0431725932284361,-1.9765950440761446]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.46042520681529364,-1.9347105273689955,0.71338606911949],"aabb_xy":[[-0.4979252053909145,-1.9474468230325532],[-0.4229252082396729,-1.9219742317054374]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.5191885525835642,-1.1057065705379716,0.71338606911949],"aabb_xy":[[0.4691885509220694,-1.155705012793674],[0.5691885542450589,-1.0557081282822687]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.09223129509188932,-0.18836983271687702,0.71338606911949],"aabb_xy":[[-0.11606751273249441,-0.2783698335253635],[-0.06839507745128427,-0.09836983190839055]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[-0.1719135550820462,-0.5952846280086901,0.71338606911949],"aabb_xy":[[-0.22191355636588617,-0.6452634823993121],[-0.12191355379820625,-0.5453057736180679]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.5620676923212922,0.2289445077553709,0.71338606911949],"aabb_xy":[[-0.579645994510239,0.211370018181266],[-0.5444893901323453,0.2465189973294758]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.27349070451073315,-1.0604135024662231,0.71338606911949],"aabb_xy":[[-0.29377500723413186,-1.0806961276089317],[-0.25320640178733433,-1.040130877323514]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.24050612231167662,0.28759434495794256,0.71338606911949],"aabb_xy":[[-0.2780061226599043,0.275802949376859],[-0.20300612196344883,0.2993857405390261]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[0.5654449212392236,0.2707779028315329,0.71338606911949],"aabb_xy":[[0.5608098060869902,0.2669105677543842],[0.5700800363914569,0.2746452379086815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691276651845588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/694.png","name":"694"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7264.png","name":"7264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9077.png","name":"9077"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1505.png","name":"1505"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":828.434044296691,"rotation_z_degrees":10.590307520530793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009858030881965227,0.004077603784589576,-0.011046402427490892]},{"name":"camera_2","offset_m":[-0.006852636529301561,0.01599878120278368,-0.008989663459669629]},{"name":"camera_3","offset_m":[-0.002786396816341137,0.016720738094663633,0.0011228412931756707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008952794553859019,0.0010369139844007306,-0.001990691638475478],"end_effector_yaw_offset_degrees":0.9871173674621949},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001175124695201942,-0.00039024100813882224,0.001973135623323465],"end_effector_yaw_offset_degrees":-0.9431831875649712},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013116819302000978,-0.0008557677216271312,-0.0007961077074543517],"end_effector_yaw_offset_degrees":0.0612013830980751}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015759452060900981,0.003814010123719504],"position_m":[0.3517240547939099,0.22121401012371952,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003642711094298207,0.00029175735840033645],"position_m":[0.2747427110942982,-0.3380082426415997,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0048341827219723224,0.004107568316193991],"position_m":[0.30653418272197236,0.381407568316194,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041873337962736006,0.0012539148556845268],"position_m":[0.3532126662037264,0.06595391485568453,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b51a90814e1361891a6d95213940a07c84146374667d5c626476c0c3563c1cb0","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1432/tex_ceiling_textures_1505/tex_floor_textures_9077/tex_table_textures_694/tex_wall_textures_7264","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5289505459226156408,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5289505459226156408,"visual_seed":5289505459226156408,"scene_id":"lab_003","finished_at":"2026-09-04T05:17:25"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T05:17:28","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.5047033946539281,-1.8652693758730305,0.71338606911949],"aabb_xy":[[0.4797033951021896,-1.8754118597381648],[0.5297033942056666,-1.8551268920078954]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.07542122725623124,1.7861631393692607,0.71338606911949],"aabb_xy":[[0.011421225035824226,1.7417900552439722],[0.13942122947663826,1.8305362234945488]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[0.45516977222808497,0.9344039413173459,0.71338606911949],"aabb_xy":[[0.421690604967044,0.9009248279462391],[0.4886489394891259,0.967883054688453]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[0.5450741162864461,1.3156202400147246,0.71338606911949],"aabb_xy":[[0.5126124154045185,1.2854874078998215],[0.5775358171683734,1.3457530721296267]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.06251515271000463,-1.31335697036894,0.71338606911949],"aabb_xy":[[0.05380118366007013,-1.3358569710281278],[0.0712291217599391,-1.2908569697097514]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.4532567718659988,-0.9205242217005398,0.71338606911949],"aabb_xy":[[0.37325677470642343,-0.9320718226583568],[0.5332567690255741,-0.9089766207427227]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.26009925388704036,1.6835576351586243,0.71338606911949],"aabb_xy":[[0.2440373264285227,1.5985576333460325],[0.27616118134555795,1.7685576369712162]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.4929273992989742,-0.6859816105379737,0.71338606911949],"aabb_xy":[[-0.5047994823104753,-0.770981610231624],[-0.48105531628747317,-0.6009816108443233]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.6297256843906667,0.13935768193277376,0.71338606911949],"aabb_xy":[[0.6210277220999514,0.12723270762529906],[0.638423646681382,0.1514826562402485]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.1885602837732686,0.18254152320204042,0.71338606911949],"aabb_xy":[[-0.22418943967322832,0.14690885644518747],[-0.15293112787330884,0.21817418995889337]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.37398118023777394,-0.6406395952026935,0.71338606911949],"aabb_xy":[[0.30898117923727336,-0.6914259603573685],[0.4389811812382744,-0.5898532300480186]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.2007688671390203,-1.7650193972491572,0.71338606911949],"aabb_xy":[[-0.22576886707153823,-1.7719020654700806],[-0.17576886720650245,-1.758136729028234]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.1663663916027477,0.8164027684714981,0.71338606911949],"aabb_xy":[[-0.23036639301073836,0.7646138169475734],[-0.10236639019475703,0.8681917199954228]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.1793209206490458,-0.9341797478596039,0.71338606911949],"aabb_xy":[[-0.18694518873922403,-0.9418129713961477],[-0.17169665255886754,-0.9265465243230603]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.2860237687143514,0.538631871168803,0.71338606911949],"aabb_xy":[[0.2683909331208238,0.5210089251531799],[0.30365660430787894,0.5562548171844258]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.5393073148764191,0.8671296717864578,0.71338606911949],"aabb_xy":[[-0.5437379442312593,0.8616813000517753],[-0.534876685521579,0.8725780435211405]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.696423989763046,-0.2849085323232785,0.71338606911949],"aabb_xy":[[0.6909660441260257,-0.3649085356309376],[0.7018819354000658,-0.2049085290156194]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.5109162651499461,0.1050232966346325,0.71338606911949],"aabb_xy":[[-0.533088792126597,0.08284762947850931],[-0.4887437381732953,0.12719896379075565]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.43680989061249575,1.7499005922908135,0.71338606911949],"aabb_xy":[[-0.4550157142737435,1.738875191708822],[-0.41860406695124813,1.7609259928728054]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.677182782309103,0.9323256062243499,0.71338606911949],"aabb_xy":[[0.6300534033072672,0.8683256051799477],[0.7243121613109386,0.9963256072687516]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.08773777721986098,-0.9998400603321445,0.71338606911949],"aabb_xy":[[-0.10483985517822914,-1.0169468658634142],[-0.07063569926149282,-0.9827332548008747]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.3073636076036591,1.1774591397165972,0.71338606911949],"aabb_xy":[[-0.37136360994646067,1.1325182884724645],[-0.24336360526085757,1.2223999909607295]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.40900848739082474,-2.069640184760953,0.71338606911949],"aabb_xy":[[-0.4640084855925696,-2.11016215138739],[-0.3540084891890799,-2.029118218134515]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.6109935271356901,0.5354992323281036,0.71338606911949],"aabb_xy":[[0.5765310491226023,0.5288355551451807],[0.6454560051487779,0.5421629095110263]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.5763600740225248,-2.368288241667036,0.71338606911949],"aabb_xy":[[-0.6138600755381565,-2.379515014683181],[-0.538860072506893,-2.357061468650891]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.34412439917270116,-1.7555650209782632,0.71338606911949],"aabb_xy":[[-0.39020949042743264,-1.8195650182308183],[-0.2980393079179697,-1.691565023725708]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[0.34416682885360195,-2.207158475011262,0.71338606911949],"aabb_xy":[[0.2641668255895888,-2.2207185073201754],[0.4241668321176151,-2.1935984427023487]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.22479354749821562,1.380873458270695,0.71338606911949],"aabb_xy":[[-0.23203731354446094,1.3008734600670926],[-0.2175497814519703,1.4608734564742973]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6891440525163123,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6426.png","name":"6426"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3369.png","name":"3369"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4624.png","name":"4624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4326.png","name":"4326"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":510.4863107093347,"rotation_z_degrees":224.10146994355833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01705016640414798,0.008760207723978196,-0.014298786127900653]},{"name":"camera_2","offset_m":[0.010027659190373593,-0.0042980602447705955,0.016949034604693363]},{"name":"camera_3","offset_m":[0.0018731161266372122,0.011814721315997218,-0.018034697839555695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005076137078756323,0.00023434998119095966,0.0016304144255246326],"end_effector_yaw_offset_degrees":-0.9724972923572648},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013759404655299626,-0.0008608060328504097,-0.00023104984903515651],"end_effector_yaw_offset_degrees":-0.9100662159460977},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017291720102247186,0.001870141413682459,0.001337278377094288],"end_effector_yaw_offset_degrees":-0.13457054988612915}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031411276766234826,0.0011295669704000097],"position_m":[0.3564411276766235,0.21852956697040002,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004432899711305541,0.004213419029950818],"position_m":[0.26666710028869445,-0.3340865809700492,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0048194541580258874,0.00025109816443685037],"position_m":[0.3065194541580259,0.3775510981644369,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008055683579771154,-0.004950718074970668],"position_m":[0.35659443164202287,0.059749281925029325,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fc693ec831e40fdebcd7710ad67bc6c2f7527894f8a3f17ae54dcf80e1a9b137","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4222/tex_ceiling_textures_4326/tex_floor_textures_4624/tex_table_textures_6426/tex_wall_textures_3369","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":707023800282997599,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":707023800282997599,"visual_seed":707023800282997599,"scene_id":"lab_003","finished_at":"2026-09-04T05:20:31"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T05:20:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.3211477782454799,-2.3221842034243787,0.71338606911949],"aabb_xy":[[0.29986977010200766,-2.3871842057504513],[0.34242578638895216,-2.257184201098305]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.5504898569044894,-1.5376809881417846,0.71338606911949],"aabb_xy":[[0.48648985761032115,-1.6016671285106387],[0.6144898561986576,-1.4736948477729304]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.17020777605060033,1.7730776096098384,0.71338606911949],"aabb_xy":[[-0.19267254602200545,1.7505776087309777],[-0.14774300607919522,1.7955776104886987]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.5268899520107413,-0.6889164776624139,0.71338606911949],"aabb_xy":[[0.5092143214221428,-0.7065966939418166],[0.5445655825993395,-0.6712362613830111]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.35573230847135795,-2.019913038555872,0.71338606911949],"aabb_xy":[[0.3476889485454028,-2.104913039651238],[0.3637756683973131,-1.9349130374605052]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.45905191600393214,-0.9485041424521159,0.71338606911949],"aabb_xy":[[-0.5230519182243392,-0.9928772265774042],[-0.39505191378352505,-0.9041310583268276]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.3816810889669333,-1.1157330329176454,0.71338606911949],"aabb_xy":[[0.32405062007966245,-1.1757330318443557],[0.4393115578542041,-1.0557330339909345]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.6410059994620749,-0.5921038226186213,0.71338606911949],"aabb_xy":[[0.603505998797496,-0.6077908806188433],[0.6785060001266534,-0.576416764618399]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.6211501257531225,0.551359070538894,0.71338606911949],"aabb_xy":[[0.5661501265765329,0.49636939576393624],[0.6761501249297118,0.6063487453138515]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.4711662541516627,0.04609319383008614,0.71338606911949],"aabb_xy":[[-0.47915974394694477,0.03809506188961049],[-0.4631727643563807,0.05409132577056182]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.3004932600671264,-1.7720025929770422,0.71338606911949],"aabb_xy":[[-0.34577187494827566,-1.836002592325226],[-0.25521464518597714,-1.7080025936288585]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.21516327975579108,-0.4221302729755281,0.71338606911949],"aabb_xy":[[-0.2276306378655267,-0.43459559760885164],[-0.2026959216460554,-0.4096649483422046]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.4450446750256216,-0.6325048501440649,0.71338606911949],"aabb_xy":[[-0.500040152846281,-0.6875048515779718],[-0.3900491972049622,-0.577504848710158]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.18677142080246678,-1.8886649372842987,0.71338606911949],"aabb_xy":[[0.12277141845966523,-1.9336057885284312],[0.25077142314526835,-1.8437240860401662]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.4931994304064119,1.4399560126729045,0.71338606911949],"aabb_xy":[[-0.5731994314795322,1.4301779663355199],[-0.41319942933329157,1.4497340590102887]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.21314935155838655,-1.5586309346999667,0.71338606911949],"aabb_xy":[[0.17814935328826662,-1.5657050623949547],[0.24814934982850642,-1.5515568070049783]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.3880348074566183,-2.230714406909476,0.71338606911949],"aabb_xy":[[-0.4105348079686589,-2.253206265274874],[-0.3655348069445777,-2.2082225485440774]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.2723896461856772,0.458188277004802,0.71338606911949],"aabb_xy":[[0.2545205384312217,0.44435536902759104],[0.2902587539401327,0.4720211849820129]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.05970204513119726,0.769149688882794,0.71338606911949],"aabb_xy":[[-0.08470204429683037,0.7621974431774374],[-0.034702045965564136,0.7761019345881506]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.04528390503943247,-1.2482303461566584,0.71338606911949],"aabb_xy":[[-0.014716096603489374,-1.3002304954486024],[0.10528390668235432,-1.196230196864714]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.3510716772561251,0.6237945786604997,0.71338606911949],"aabb_xy":[[0.3060790905376747,0.578794579386051],[0.3960642639745755,0.6687945779349485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872381032866229,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7374.png","name":"7374"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1466.png","name":"1466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":702.212325692363,"rotation_z_degrees":166.63118806334464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018021315096337337,-0.015551512440872495,0.01920006155053215]},{"name":"camera_2","offset_m":[-0.014850759104972506,0.0059175035682589895,0.006323604669635965]},{"name":"camera_3","offset_m":[-0.016773798317628083,0.004253128898100186,-0.006738271888754088]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019438493432248575,0.001757714733884485,0.0011106581961595353],"end_effector_yaw_offset_degrees":-0.8620551270480199},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001993324651421783,0.0009272603691555491,-0.00011091242802450246],"end_effector_yaw_offset_degrees":0.11093487099929189},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018468062132260096,0.000634568186630869,-0.0018910910635857223],"end_effector_yaw_offset_degrees":0.8107221972330714}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032058590677489967,-0.00296300253666882],"position_m":[0.356505859067749,0.2144369974633312,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012099868148245816,-0.00040820975480895545],"position_m":[0.2723099868148246,-0.3387082097548089,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004681202421597434,-0.0030261594283811943],"position_m":[0.30638120242159744,0.37427384057161883,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028564187491351323,0.0009463037333178872],"position_m":[0.3545435812508649,0.06564630373331788,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51d8bb572651fb272d40e580d575ff60f0619884f3a70391435ea913533e9d98","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_348/tex_ceiling_textures_2166/tex_floor_textures_1466/tex_table_textures_7374/tex_wall_textures_7381","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5358921498729881675,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5358921498729881675,"visual_seed":5358921498729881675,"scene_id":"lab_003","finished_at":"2026-09-04T05:23:28"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T05:23:31","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.004191164544462556,-1.1896237955634494,0.71338606911949],"aabb_xy":[[-0.06919116310153539,-1.219376328977332],[0.06080883401261028,-1.1598712621495668]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.1137279059641787,-2.2516773241784267,0.71338606911949],"aabb_xy":[[0.04972790953685681,-2.298846948000523],[0.1777279023915006,-2.2045077003563303]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.36672627615328096,-1.7141503117074235,0.71338606911949],"aabb_xy":[[-0.4307262794429891,-1.757485230711341],[-0.30272627286357284,-1.6708153927035059]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.24452026310160846,-1.2638185695743631,0.71338606911949],"aabb_xy":[[0.22741818514324025,-1.2809253751056329],[0.26162234105997656,-1.2467117640430934]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.4294412945379418,0.5438269260588884,0.71338606911949],"aabb_xy":[[0.36544129595136926,0.49681996265937955],[0.4934412931245142,0.590833889458397]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.6208517984753034,1.079472134662642,0.71338606911949],"aabb_xy":[[-0.6808517989831563,1.0226254009767204],[-0.5608517979674504,1.136318868348563]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.2842220619744884,-1.5375142230443537,0.71338606911949],"aabb_xy":[[0.22022206171401756,-1.5825230223972815],[0.34822206223495916,-1.4925054236914255]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.25993110976251993,0.19180500114500632,0.71338606911949],"aabb_xy":[[-0.2673435653039084,0.18595379072337836],[-0.25251865422113146,0.19765621156663427]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.31136420572941526,-0.6168323115401089,0.71338606911949],"aabb_xy":[[0.25373373684214434,-0.6768323104668194],[0.36899467461668606,-0.5568323126133982]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.42734045651986496,-0.028633872197370458,0.71338606911949],"aabb_xy":[[-0.4425033294968021,-0.04379932949248922],[-0.41217758354292794,-0.013468414902251705]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.4746051927014474,-0.025609345770111425,0.71338606911949],"aabb_xy":[[0.42932657782029815,-0.0896093451182951],[0.5198838075825967,0.038390653578072254]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.27121613823489643,-2.4372094727498466,0.71338606911949],"aabb_xy":[[0.21720054195299648,-2.5012094756421037],[0.3252317345167965,-2.3732094698575894]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.28560276141889485,-1.086718322070933,0.71338606911949],"aabb_xy":[[0.2306105107833839,-1.1417183238142459],[0.3405950120544058,-1.0317183203276203]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.5571703487174708,-0.8390365852500805,0.71338606911949],"aabb_xy":[[0.507689927503512,-0.9030365831629323],[0.6066507699314296,-0.7750365873372287]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.2924026769428629,-1.668833404050002,0.71338606911949],"aabb_xy":[[0.282646687433689,-1.6785959381092364],[0.30215866645203676,-1.6590708699907675]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[0.5287245878809148,-1.0607994445053048,0.71338606911949],"aabb_xy":[[0.5208013076421665,-1.0832994447433082],[0.5366478681196631,-1.0382994442673015]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.3756357840509683,-2.2490979227792174,0.71338606911949],"aabb_xy":[[0.34219560885494865,-2.2825415486101472],[0.40907595924698786,-2.2156542969482866]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.10613462813062624,-1.0617424317570094,0.71338606911949],"aabb_xy":[[0.10117860794574507,-1.0842424319591313],[0.11109064831550747,-1.039242431554888]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.05148337987276452,-1.9949793906609254,0.71338606911949],"aabb_xy":[[0.04378018919868748,-2.0026887613596633],[0.059186570546841566,-1.9872700199621876]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[0.5042732443031861,1.6086225853019047,0.71338606911949],"aabb_xy":[[0.4698107662900982,1.6019589081189818],[0.5387357223162738,1.6152862624848272]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.1291330731660777,1.643302805752548,0.71338606911949],"aabb_xy":[[-0.1931330735436113,1.5935575389017358],[-0.06513307278854408,1.6930480726033603]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.3370326159438781,-2.559072871225364,0.71338606911949],"aabb_xy":[[0.2995326175204778,-2.572237085193194],[0.37453261436727847,-2.5459086572575327]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.15369350679964344,-0.1354850094644977,0.71338606911949],"aabb_xy":[[-0.2336935078727638,-0.14526305580188215],[-0.07369350572652314,-0.12570696312711327]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[-0.16892411635190197,-0.8369401762897113,0.71338606911949],"aabb_xy":[[-0.17382340865846543,-0.8646170955922802],[-0.16402482404533844,-0.8092632569871426]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827706554009608,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9735.png","name":"9735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9381.png","name":"9381"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2054.png","name":"2054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8179.png","name":"8179"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":683.2585517272234,"rotation_z_degrees":302.3496899757827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008094711049490205,-0.003609313697851148,0.011740921508180149]},{"name":"camera_2","offset_m":[0.017986955743993168,-0.006484761612490279,-0.006943164385111635]},{"name":"camera_3","offset_m":[-0.011912802830940037,-0.018199391709975993,-0.013209943916686027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019350439469519943,0.00132593706787411,-0.00012027834283801289],"end_effector_yaw_offset_degrees":0.7080765054317151},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009655799558561306,0.001372561462843445,-0.001949445012517501],"end_effector_yaw_offset_degrees":-0.006295439432830063},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015028878377992007,-0.0008172460029836825,0.00042404879127810836],"end_effector_yaw_offset_degrees":-0.13169638110617576}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016675030957766534,-0.004220730087878203],"position_m":[0.3516324969042233,0.2131792699121218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017564536528723398,0.00047339444079455215],"position_m":[0.26934354634712765,-0.33782660555920546,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031059429062554257,0.000690150551080005],"position_m":[0.2985940570937446,0.37799015055108004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006078867263307561,-0.00035131413582229626],"position_m":[0.35800788672633077,0.06434868586417769,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fccaab35647ef8f3a0a414624630ffcfae012fb2d9185ed6a9ee2160ffbcbbd","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2320/tex_ceiling_textures_8179/tex_floor_textures_2054/tex_table_textures_9735/tex_wall_textures_9381","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3960526001096669093,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3960526001096669093,"visual_seed":3960526001096669093,"scene_id":"lab_003","finished_at":"2026-09-04T05:26:32"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T05:26:35","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.4633063363443432,0.20054928319098364,0.71338606911949],"aabb_xy":[[-0.5273063380223406,0.15203189171166942],[-0.3993063346663458,0.24906667467029786]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.4529164723658924,-1.5453067269677612,0.71338606911949],"aabb_xy":[[-0.4942210154296284,-1.6093067265358778],[-0.4116119293021564,-1.4813067273996436]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.5844375597688098,-0.9544330561281185,0.71338606911949],"aabb_xy":[[-0.5937311780059603,-0.9919330546162521],[-0.5751439415316592,-0.9169330576399843]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.6644585972965068,-0.02870231683253266,0.71338606911949],"aabb_xy":[[-0.6833429810650171,-0.04758824161288544],[-0.6455742135279967,-0.009816392052179882]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.5401925786548762,-1.8705761033594739,0.71338606911949],"aabb_xy":[[0.47619257536516807,-1.9139110223633915],[0.6041925819445843,-1.8272411843555563]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.5491792014907133,1.459523315930317,0.71338606911949],"aabb_xy":[[0.485179202196545,1.3955371755614625],[0.6131792007848814,1.523509456299171]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.4701546351948345,0.6232798082877942,0.71338606911949],"aabb_xy":[[-0.5201496461542865,0.5732798092522025],[-0.42015962423538256,0.6732798073233859]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.4382965733120532,-2.507571654406047,0.71338606911949],"aabb_xy":[[0.37430087591695654,-2.571571652706756],[0.5022922707071498,-2.4435716561053384]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.08173830259364301,1.7305144814308586,0.71338606911949],"aabb_xy":[[-0.1457383028541138,1.6855056820779304],[-0.017738302333172192,1.7755232807837864]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[0.1527828532070502,-0.8809745730985814,0.71338606911949],"aabb_xy":[[0.09765764757745944,-0.9409745745398685],[0.20790805883664099,-0.8209745716572943]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.4685043534339064,1.0495184725241482,0.71338606911949],"aabb_xy":[[0.45092605124495955,1.0319439829500432],[0.48608265562285324,1.0670929620982532]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.28397604505358826,0.5768558656919782,0.71338606911949],"aabb_xy":[[-0.36397604221316354,0.5653082647341612],[-0.20397604789401297,0.5884034666497953]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.47327856603628704,0.8293895443323267,0.71338606911949],"aabb_xy":[[0.40327856962632513,0.8089516086806448],[0.5432785624462486,0.8498274799840082]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.057452730887366577,-2.4501542804944383,0.71338606911949],"aabb_xy":[[-0.06208784603959995,-2.4540216155715866],[-0.052817615735133175,-2.446286945417289]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.4340815701613441,-0.06504474408981764,0.71338606911949],"aabb_xy":[[0.41801964270282643,-0.15004474590240943],[0.4501434976198617,0.019955257722774174]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.5369994827178236,1.5192363998689165,0.71338606911949],"aabb_xy":[[-0.5594642526892287,1.496736398990056],[-0.5145347127464185,1.541736400747777]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.6734853753408981,-2.4834979647317055,0.71338606911949],"aabb_xy":[[-0.6860880744779745,-2.4960933609565714],[-0.6608826762038216,-2.4709025685068404]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.08074107728326929,-1.4417358760379828,0.71338606911949],"aabb_xy":[[0.01674107700929106,-1.4918019762352708],[0.14474107755724752,-1.3916697758406948]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.10711191659734165,-1.9539501675847915,0.71338606911949],"aabb_xy":[[-0.11532646171302563,-1.9626267578824326],[-0.09889737148165767,-1.94527357728715]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.26849361736683985,-1.1069279920141708,0.71338606911949],"aabb_xy":[[0.2135013667313289,-1.1619279937574836],[0.3234858680023508,-1.051927990270858]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.24171158543956833,-2.359368780413027,0.71338606911949],"aabb_xy":[[-0.2513432216599979,-2.369006093192736],[-0.2320799492191387,-2.349731467633318]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.6087079192907328,0.9484817973572488,0.71338606911949],"aabb_xy":[[-0.6727079184605027,0.9017151102382864],[-0.5447079201209628,0.9952484844762114]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.049948189194616854,-1.1504722018667881,0.71338606911949],"aabb_xy":[[-0.08426446636923479,-1.2004722018399658],[-0.015631912019998917,-1.1004722018936104]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.5211964573409864,1.1449859226519257,0.71338606911949],"aabb_xy":[[-0.5386964575860357,1.1274861348123586],[-0.5036964570959369,1.1624857104914923]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.16095982435512335,1.1705018888102723,0.71338606911949],"aabb_xy":[[-0.17104153143369683,1.0905018909181574],[-0.15087811727654987,1.2505018867023867]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.4637299562804805,-1.3188754629147605,0.71338606911949],"aabb_xy":[[-0.47184361095385763,-1.3269812793687894],[-0.4556163016071034,-1.3107696464607312]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.5473788907309436,1.6565604437661006,0.71338606911949],"aabb_xy":[[0.5303687934408929,1.6404259552678266],[0.5643889880209942,1.6726949322643745]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[0.4975814668313243,-1.3240068690937579,0.71338606911949],"aabb_xy":[[0.4175814694277309,-1.4039994402919405],[0.5775814642349177,-1.2440142978955748]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829915644264557,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/234.png","name":"234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/234.png","name":"234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9202.png","name":"9202"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8079.png","name":"8079"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8293.png","name":"8293"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5544.png","name":"5544"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.632358327857,"rotation_z_degrees":262.4425610111905,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002442428316502713,0.0023139111451128576,-0.0019720639147065913]},{"name":"camera_2","offset_m":[-0.018909850404276993,-0.013719814903751796,-0.014681437506780278]},{"name":"camera_3","offset_m":[0.01678973380154263,-0.016359006042143777,0.006153070990129236]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010720459014950316,0.0012868806733963172,-7.067105421238937e-07],"end_effector_yaw_offset_degrees":0.7132414421040532},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016360786274099677,-0.0004642352404066368,0.0003077007562337459],"end_effector_yaw_offset_degrees":-0.2832676183855476},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016931003923705897,0.0012265753020578602,-0.0002497755148497007],"end_effector_yaw_offset_degrees":-0.05591438856357933}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037944727099106174,0.0016095231191551361],"position_m":[0.3570944727099106,0.21900952311915514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004112927974455932,-0.003546217437466078],"position_m":[0.26698707202554406,-0.34184621743746607,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026630054159308436,0.00042260147126232505],"position_m":[0.2990369945840692,0.37772260147126235,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027268386961146994,-0.00047684657499065444],"position_m":[0.3546731613038853,0.06422315342500934,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"65759d97264031d575d8630cf8c1fd105d794785936858302d42b0949b51a999","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_234/tex_ceiling_textures_5544/tex_floor_textures_8293/tex_table_textures_9202/tex_wall_textures_8079","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3643899712493505445,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3643899712493505445,"visual_seed":3643899712493505445,"scene_id":"lab_003","finished_at":"2026-09-04T05:29:29"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T05:29:32","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.5299589219403273,-1.9630378510700535,0.71338606911949],"aabb_xy":[[-0.579958921380523,-2.0130057755543698],[-0.4799589225001317,-1.913069926585737]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.1834284458193144,-2.5406911436590285,0.71338606911949],"aabb_xy":[[-0.21789092383240216,-2.5473548208419508],[-0.14896596780622662,-2.5340274664761053]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.6211437388140578,0.31160039543389173,0.71338606911949],"aabb_xy":[[-0.6436437390575732,0.2993957607741198],[-0.5986437385705424,0.3238050300936637]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.09808657179042479,0.9445573806987153,0.71338606911949],"aabb_xy":[[-0.14808657215099083,0.8945773934891122],[-0.04808657142985872,0.9945373679083181]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.6055999643962229,-1.404712498377222,0.71338606911949],"aabb_xy":[[-0.6430999655810155,-1.409130721073282],[-0.5680999632114299,-1.400294275681161]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.2526685829287101,-0.5221276721071217,0.71338606911949],"aabb_xy":[[-0.26527128206578654,-0.5347230683319872],[-0.24006588379163363,-0.5095322758822562]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.17854237918366844,-1.1730475347464988,0.71338606911949],"aabb_xy":[[-0.24254237648601482,-1.2174139617143556],[-0.11454238188132201,-1.128681107778642]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.057038594455637304,-0.9986894128491537,0.71338606911949],"aabb_xy":[[0.051701018789632736,-1.0236894137782935],[0.06237617012164187,-0.9736894119200139]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.14085033483533704,-1.9770369270304171,0.71338606911949],"aabb_xy":[[0.13358908726492963,-1.9898239372939268],[0.14811158240574446,-1.9642499167669079]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.5098355703464222,-0.7000998325501899,0.71338606911949],"aabb_xy":[[-0.564828781683559,-0.7550998328889836],[-0.4548423590092855,-0.6450998322113963]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.25492169987170993,-0.26754290358374355,0.71338606911949],"aabb_xy":[[-0.2650747154258592,-0.3036124451564838],[-0.24476868431756044,-0.2314733620110031]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.41341190096358615,1.2970764966863855,0.71338606911949],"aabb_xy":[[0.409276044630886,1.2595764972420285],[0.4175477572962864,1.3345764961307425]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.34295800349773403,-0.6499200259309574,0.71338606911949],"aabb_xy":[[-0.4029580033443008,-0.7067386481239961],[-0.28295800365116724,-0.5931014037379188]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.018251861975887462,1.683689529344616,0.71338606911949],"aabb_xy":[[-0.07322558401222035,1.628689529780383],[0.03672186006044542,1.7386895289088493]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[0.15975741036167268,-1.1553346715445856,0.71338606911949],"aabb_xy":[[0.15095535505269994,-1.1631459976995144],[0.16855946567064536,-1.1475233453896563]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.1822879116382522,-0.4464196237011455,0.71338606911949],"aabb_xy":[[-0.19919864407459395,-0.45989182929376],[-0.1653771792019104,-0.43294741810853093]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.3282637591586663,-0.9524148557882168,0.71338606911949],"aabb_xy":[[-0.3355075252049116,-1.0324148539918192],[-0.32101999311242096,-0.8724148575846143]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.57028504627449,-2.1140876614943727,0.71338606911949],"aabb_xy":[[-0.6342850433865955,-2.1631200312887833],[-0.5062850491623841,-2.065055291699962]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.37372107239647234,-0.5222043397064815,0.71338606911949],"aabb_xy":[[0.3097210700536708,-0.5671451909506139],[0.4377210747392739,-0.47726348846234895]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.483483353012917,0.6325420253840717,0.71338606911949],"aabb_xy":[[0.4194833497942791,0.5858189134850633],[0.5474833562315549,0.67926513728308]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[0.04592914801854375,-0.7003210366614052,0.71338606911949],"aabb_xy":[[-0.01807085235898987,-0.7500663035122175],[0.10992914839607737,-0.650575769810593]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.6239752898451687,-1.250911539018083,0.71338606911949],"aabb_xy":[[-0.6879752918949007,-1.2910060221073911],[-0.5599752877954367,-1.2108170559287752]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.33551971911653844,-1.5088409169077737,0.71338606911949],"aabb_xy":[[0.2855354834083612,-1.5588409157212693],[0.38550395482471567,-1.458840918094278]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.25676793878536114,0.5082539512406692,0.71338606911949],"aabb_xy":[[-0.2942679386023947,0.5036157399295272],[-0.21926793896832758,0.5128921625518109]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.5144144310822141,0.5060541549749615,0.71338606911949],"aabb_xy":[[0.4785009266572244,0.4701406467582068],[0.5503279355072037,0.5419676631917161]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.20854805080358924,-1.3748520742858983,0.71338606911949],"aabb_xy":[[-0.2725480500977575,-1.4388382146547527],[-0.14454805150942104,-1.3108659339170443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6848184388196237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9540.png","name":"9540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9540.png","name":"9540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5651.png","name":"5651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/114.png","name":"114"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/441.png","name":"441"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8713.png","name":"8713"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":811.9816597662136,"rotation_z_degrees":300.15489586772316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01789420611502331,-0.009938177533675922,0.005477269314785302]},{"name":"camera_2","offset_m":[0.005881111664944528,0.01336282805606229,-0.011570363388187217]},{"name":"camera_3","offset_m":[-0.005972429244560033,0.004251350776151658,0.006829775895800118]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006877008858463666,-0.0011408298157751743,0.0008743019912468911],"end_effector_yaw_offset_degrees":0.12997297598182134},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001726949065907494,0.0015014605760622067,-0.00047621838071634044],"end_effector_yaw_offset_degrees":-0.4169404881495353},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001669819245750932,0.0010944139506228112,-0.00027544681539303406],"end_effector_yaw_offset_degrees":-0.3403841554967677}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004008149676578781,0.004588469565297835],"position_m":[0.34929185032342125,0.22198846956529786,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004161074858010594,-0.001471989350530215],"position_m":[0.2669389251419894,-0.3397719893505302,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002810371903850445,-0.004588161719283739],"position_m":[0.30451037190385044,0.3727118382807163,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026865135944924234,0.003425611413693074],"position_m":[0.3547134864055076,0.06812561141369307,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c792a18984ff8d02d8b8646a47ea7fd5217ca7e36b1726627acf77646c0644ca","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9540/tex_ceiling_textures_8713/tex_floor_textures_441/tex_table_textures_5651/tex_wall_textures_114","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6236409935328074830,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6236409935328074830,"visual_seed":6236409935328074830,"scene_id":"lab_003","finished_at":"2026-09-04T05:32:32"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T05:32:35","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.19791435395516854,0.8780114045773142,0.71338606911949],"aabb_xy":[[-0.20671640926414125,0.870200078422385],[-0.18911229864619583,0.8858227307322432]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.48299702342845385,1.1866803430597996,0.71338606911949],"aabb_xy":[[-0.5469970241319233,1.1406619605868786],[-0.4189970227249846,1.2326987255327206]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.4017634004956889,-0.7423731578829138,0.71338606911949],"aabb_xy":[[0.37547457617524826,-0.7686445915375649],[0.4280522248161296,-0.7161017242282625]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.30504888074158043,1.2229158381164185,0.71338606911949],"aabb_xy":[[-0.3182001267128698,1.197915838359732],[-0.29189763477029107,1.247915837873105]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.02624644088266015,-0.7662794112953022,0.71338606911949],"aabb_xy":[[-0.045130824651170354,-0.7851653360756551],[-0.007362057114149945,-0.7473934865149495]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.34976108505621367,-1.6387737693081434,0.71338606911949],"aabb_xy":[[-0.38726108347961397,-1.6519379832759742],[-0.31226108663281327,-1.6256095553403127]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.2938328605127135,1.1265125347987,0.71338606911949],"aabb_xy":[[0.283679844958564,1.0904429932259592],[0.3039858760668628,1.1625820763714398]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.22614015567398438,0.7665238108036609,0.71338606911949],"aabb_xy":[[0.18759446284878334,0.7279780397474722],[0.2646858484991854,0.8050695818598494]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.17304600650821567,-1.5516811649300777,0.71338606911949],"aabb_xy":[[0.1650197358775897,-1.5604326599074305],[0.1810722771388417,-1.5429296699527253]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.1889786610257932,0.6713581993211637,0.71338606911949],"aabb_xy":[[-0.19702202095174834,0.5863581982257973],[-0.180935301099838,0.7563582004165301]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.5256757781393222,0.9133402868541518,0.71338606911949],"aabb_xy":[[0.5032110081679171,0.8908402859752913],[0.5481405481107273,0.9358402877330123]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.45305304530756285,0.07648309046206503,0.71338606911949],"aabb_xy":[[-0.5170530455815412,0.026416990264777063],[-0.3890530450335847,0.126549190659353]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.23738941211185716,1.6172844255109324,0.71338606911949],"aabb_xy":[[0.17338941568453528,1.570114801688836],[0.30138940853917906,1.6644540493330289]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.09828496631705619,-2.53600385387264,0.71338606911949],"aabb_xy":[[0.07637628417770512,-2.5579045206927304],[0.1201936484564072,-2.514103187052549]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.2033674623152656,-1.3269791512227236,0.71338606911949],"aabb_xy":[[-0.25334075631852604,-1.3769791517772707],[-0.1533941683120051,-1.276979150668176]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.029279777486026726,0.9502829241435382,0.71338606911949],"aabb_xy":[[-0.08440498311561749,0.8902829227022511],[0.025845428143564046,1.0102829255848254]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.1621848849518619,-1.3225217994589062,0.71338606911949],"aabb_xy":[[0.09718488395136138,-1.373308164613581],[0.22718488595236241,-1.271735434304231]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.09843258346113903,-2.0638619052999205,0.71338606911949],"aabb_xy":[[0.0888009472407094,-2.0734992180796294],[0.10806421968156864,-2.0542245925202116]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.5184169500156401,1.4427023570703805,0.71338606911949],"aabb_xy":[[-0.5984169486029596,1.3633867551322196],[-0.43841695142832077,1.5220179590085414]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.2825165843953973,-0.6287749570033403,0.71338606911949],"aabb_xy":[[-0.34651658168104593,-0.6702816759561843],[-0.21851658710974864,-0.5872682380504963]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.449031581462932,1.1845330864451928,0.71338606911949],"aabb_xy":[[0.4339292800019139,1.1694315648141305],[0.4641338829239501,1.1996346080762543]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.04468675485307316,-2.5424175616487212,0.71338606911949],"aabb_xy":[[-0.062117469932079665,-2.559689676312571],[-0.02725603977406665,-2.5251454469848698]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.4691703067007408,-0.8317323652330628,0.71338606911949],"aabb_xy":[[-0.5491703069743477,-0.9046819130587795],[-0.38917030642713374,-0.7587828174073461]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.16251218776043108,1.7472996659638729,0.71338606911949],"aabb_xy":[[0.14245377614719076,1.7272345790547154],[0.18257059937367134,1.7673647528730303]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.36244707650369423,-1.1808587875448922,0.71338606911949],"aabb_xy":[[0.3153176975018585,-1.2448587885892939],[0.40957645550552985,-1.11685878650049]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.3754996483346424,-1.2201347477336255,0.71338606911949],"aabb_xy":[[-0.40549131106851266,-1.250134747070426],[-0.345507985600772,-1.190134748396825]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[0.33448832346958746,-2.3531998797262412,0.71338606911949],"aabb_xy":[[0.32724455742334213,-2.4331998779298436],[0.3417320895158328,-2.273199881522639]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_27","position":[0.17371392538840913,1.1756367116736368,0.71338606911949],"aabb_xy":[[0.16630146984702066,1.1697855012520089],[0.1811263809297976,1.1814879220952648]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[0.03247803246365433,1.5482108687056066,0.71338606911949],"aabb_xy":[[0.009978896737427356,1.525710867927344],[0.0549771681898813,1.5707108694838698]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_29","position":[-0.4481388774163818,-2.1203701601975964,0.71338606911949],"aabb_xy":[[-0.45822058449495523,-2.2003701580897106],[-0.4380571703378083,-2.0403701623054813]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_30","position":[-0.10624314530412393,-0.06795413860124011,0.71338606911949],"aabb_xy":[[-0.19624314203973414,-0.12113760191853462],[-0.01624314856851372,-0.0147706752839456]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_31","position":[-0.6578363427177745,-2.2506817408358306,0.71338606911949],"aabb_xy":[[-0.6730085119994078,-2.265850597764034],[-0.6426641734361411,-2.235512883907627]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[0.5018004027303957,-0.5419392551249511,0.71338606911949],"aabb_xy":[[0.41180040300722137,-0.565012607660131],[0.5918004024535697,-0.5188659025897713]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_33","position":[0.6024919218414428,0.2512949009592935,0.71338606911949],"aabb_xy":[[0.5960781081982577,0.24488508071162515],[0.6089057354846276,0.2577047212069618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845647730309758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4443.png","name":"4443"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4443.png","name":"4443"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2465.png","name":"2465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2214.png","name":"2214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9189.png","name":"9189"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8343.png","name":"8343"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":588.8520780254338,"rotation_z_degrees":125.87974465277068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014838107680343379,-0.007802298252442781,0.008859168092236521]},{"name":"camera_2","offset_m":[-0.01165562276846432,-0.006509473630071101,0.004062400934258529]},{"name":"camera_3","offset_m":[0.002214586141317764,-0.005042487283875135,0.018053126777922677]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00041554262655986397,0.0018305334431166164,-0.0007511275681865591],"end_effector_yaw_offset_degrees":-0.9926091527046088},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016223092473337114,9.219114497259397e-05,0.0009546538754054124],"end_effector_yaw_offset_degrees":-0.08026637047481056},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006011896517453237,-0.000317819290651185,0.0008944801067791372],"end_effector_yaw_offset_degrees":-0.6307513085540271}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003014617277312287,-0.0020138372766093137],"position_m":[0.3502853827226877,0.2153861627233907,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002682647549340808,0.0030430620906272245],"position_m":[0.27378264754934084,-0.3352569379093728,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028852341010185533,-0.004758375184914819],"position_m":[0.2988147658989815,0.3725416248150852,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004229294965854675,-0.00021073890547692025],"position_m":[0.36162929496585466,0.06448926109452308,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28e6bd2b3431466fdd0e5e4073ac6e0debc34aba35ddc0a5ca69f04fed8e9d8a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4443/tex_ceiling_textures_8343/tex_floor_textures_9189/tex_table_textures_2465/tex_wall_textures_2214","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5350926797622432673,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5350926797622432673,"visual_seed":5350926797622432673,"scene_id":"lab_003","finished_at":"2026-09-04T05:35:34"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T05:35:37","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.5019330264518738,1.37892261992564,0.71338606911949],"aabb_xy":[[0.4868307249908555,1.3638210982945775],[0.5170353279128916,1.3940241415567014]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[0.17197592228562986,1.2147452302766477,0.71338606911949],"aabb_xy":[[0.15442922736951092,1.1772452287123965],[0.1895226172017488,1.252245231840899]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.625593061430358,0.42308602369004156,0.71338606911949],"aabb_xy":[[-0.6432686920189562,0.4054058074106388],[-0.6079174308417595,0.4407662399694443]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.5228039177308772,-1.6191367988980634,0.71338606911949],"aabb_xy":[[0.4588039213035554,-1.6663064227201598],[0.5868039141581992,-1.571967175075967]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.2511976337441574,-1.6735084561584843,0.71338606911949],"aabb_xy":[[0.17119763508727137,-1.6880133150827472],[0.3311976324010434,-1.6590035972342214]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.20944426039227082,-2.199863759734263,0.71338606911949],"aabb_xy":[[0.1996882708830969,-2.2096262937934976],[0.21920024990144468,-2.1901012256750287]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.36114481709997787,-1.1980552600900758,0.71338606911949],"aabb_xy":[[-0.37056229166984067,-1.2074714372277946],[-0.3517273425301152,-1.1886390829523565]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.05200289365624389,-1.5194288301621193,0.71338606911949],"aabb_xy":[[0.014502895232843524,-1.5325930441299496],[0.08950289207964422,-1.5062646161942885]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.4526070317712101,-1.4131462703874984,0.71338606911949],"aabb_xy":[[0.37260703034108283,-1.492663425400108],[0.5326070332013373,-1.3336291153748892]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.5869350926417138,0.3514572885562073,0.71338606911949],"aabb_xy":[[0.5717722196647768,0.3362918312610885],[0.6020979656186509,0.36662274585132604]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.25614693715294046,-0.9269791364391586,0.71338606911949],"aabb_xy":[[0.24557945749484145,-0.9375241665521671],[0.26671441681103947,-0.91643410632615]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.49648204245674843,0.4102641723845304,0.71338606911949],"aabb_xy":[[-0.533813318981991,0.37561111758967813],[-0.45915076593150583,0.44491722717938276]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.023437411839689504,1.754485763742061,0.71338606911949],"aabb_xy":[[-0.058437410969645165,1.7487405426663967],[0.011562587290266158,1.7602309848177249]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.06294079935634278,-1.7719449768433884,0.71338606911949],"aabb_xy":[[-0.10044079793196357,-1.7846812725069465],[-0.02544080078072197,-1.7592086811798306]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.6367280745679869,-0.02593703944058312,0.71338606911949],"aabb_xy":[[0.6067605176581612,-0.05593703973846886],[0.6666956314778125,0.004062960857302626]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.22279019782658827,1.625258282842108,0.71338606911949],"aabb_xy":[[0.2002910621003613,1.602758282063845],[0.24528933355281524,1.647758283620371]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.1795763412266056,-2.5644103180021323,0.71338606911949],"aabb_xy":[[-0.1860779777346102,-2.574178140028442],[-0.17307470471860098,-2.5546424959758225]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.18195502160966204,0.3825096851463585,0.71338606911949],"aabb_xy":[[-0.24595502198719565,0.33276441829554626],[-0.11795502123212842,0.4322549519971708]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.3088560188176265,-0.6284718332164922,0.71338606911949],"aabb_xy":[[-0.3438560170877464,-0.6355459609114804],[-0.2738560205475066,-0.6213977055215041]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.4830087996912118,-0.24380810729795188,0.71338606911949],"aabb_xy":[[0.46050880016750434,-0.26630405474857255],[0.5055087992149191,-0.22131215984733105]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.1105515163127544,-0.9482282003029974,0.71338606911949],"aabb_xy":[[0.10451450331208967,-0.9542549013719456],[0.11658852931341912,-0.9422014992340492]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859618073403135,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2113.png","name":"2113"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2113.png","name":"2113"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9966.png","name":"9966"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3526.png","name":"3526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4112.png","name":"4112"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/509.png","name":"509"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":745.8222676424746,"rotation_z_degrees":117.61933149980418,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013234309315670958,-0.01571178671009959,0.005052159347493732]},{"name":"camera_2","offset_m":[-0.008051846885220352,-0.003742214688666791,-0.004496481471534924]},{"name":"camera_3","offset_m":[-0.006421713305027863,-0.009351155881143413,0.017761400250476154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000825128473466932,-0.001295853221286658,-0.0015447248613379553],"end_effector_yaw_offset_degrees":-0.2822479647026248},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007784156974451619,0.0010875833726712671,-0.0004961200145509159],"end_effector_yaw_offset_degrees":-0.19408089807788786},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001710399521367358,-0.0007528188995438306,0.0008666731523058178],"end_effector_yaw_offset_degrees":-0.7428978568240883}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010116962566550014,0.0008239890924745044],"position_m":[0.354311696256655,0.2182239890924745,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002607238789336294,6.657488168436247e-05],"position_m":[0.2737072387893363,-0.3382334251183156,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034655746059633306,-0.003887296183926807],"position_m":[0.2982344253940367,0.3734127038160732,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001682058583300049,-0.0027949000282983492],"position_m":[0.35908205858330006,0.06190509997170164,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5e469441aa1122fe502cfc5663ce54c336a58f86d786f90f6e3c3705ee03e53","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2113/tex_ceiling_textures_509/tex_floor_textures_4112/tex_table_textures_9966/tex_wall_textures_3526","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":74291144773557941,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":74291144773557941,"visual_seed":74291144773557941,"scene_id":"lab_003","finished_at":"2026-09-04T05:38:38"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T05:38:42","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.53832981397633,-1.726615958871434,0.71338606911949],"aabb_xy":[[-0.5432291062828934,-1.7542928781740028],[-0.5334305216697665,-1.6989390395688653]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.21208541145877036,-1.9373109010044312,0.71338606911949],"aabb_xy":[[0.2076547821039302,-1.9427592727391139],[0.21651604081361056,-1.9318625292697489]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.16846132970029226,-2.377879157834394,0.71338606911949],"aabb_xy":[[-0.17648760033091826,-2.386630652811747],[-0.16043505906966626,-2.369127662857042]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.1890783838722636,1.486344906290078,0.71338606911949],"aabb_xy":[[0.17563185723822025,1.4728750546369866],[0.20252491050630692,1.4998147579431693]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.4519077286553616,-0.2958750803291834,0.71338606911949],"aabb_xy":[[-0.5319077272426811,-0.37519068226734426],[-0.3719077300680422,-0.2165594783910225]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.11196020026975617,-1.7411992102683447,0.71338606911949],"aabb_xy":[[-0.16193349427301662,-1.791199210822892],[-0.06198690626649571,-1.6911992097137973]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.5204251519231284,-1.6221549334626362,0.71338606911949],"aabb_xy":[[0.44042515490888046,-1.642289485136047],[0.6004251489373764,-1.6020203817892245]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.002351177040342045,1.6700417779284096,0.71338606911949],"aabb_xy":[[-0.049480556042177715,1.6060417768840074],[0.044778201961493624,1.7340417789728113]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.3050144333210273,-1.4018012304892689,0.71338606911949],"aabb_xy":[[-0.31379566046826357,-1.4105809777777993],[-0.2962332061737911,-1.3930214832007388]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.2692280583493331,0.4314651606258728,0.71338606911949],"aabb_xy":[[-0.2870971661037886,0.4176322526486619],[-0.2513589505948776,0.44529806860308374]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.6139603534275655,-1.206043769111768,0.71338606911949],"aabb_xy":[[-0.6255293341745021,-1.2310437692286997],[-0.6023913726806289,-1.1810437689948363]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.44815242314995796,1.792786945499301,0.71338606911949],"aabb_xy":[[-0.4656524222843251,1.7829073184617135],[-0.43065242401559073,1.8026665725368891]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.3516193432512068,-0.8351137762275638,0.71338606911949],"aabb_xy":[[-0.35765635625187153,-0.8411404772965121],[-0.3455823302505421,-0.8290870751586157]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[-0.20090187821952082,0.2787350411330447,0.71338606911949],"aabb_xy":[[-0.21131343690000448,0.27338930779714615],[-0.19049031953903706,0.28408077446894314]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.3080900746126436,-0.9344334562375454,0.71338606911949],"aabb_xy":[[0.2975225949545446,-0.9449784863505539],[0.3186575542707426,-0.9238884261245368]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.1902572185910626,-2.1945676724356913,0.71338606911949],"aabb_xy":[[-0.23525722005729144,-2.239567529297172],[-0.14525721712483372,-2.1495678155742106]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.30457928538111856,-1.6987318054015026,0.71338606911949],"aabb_xy":[[0.29816547173793356,-1.705141625649171],[0.31099309902430344,-1.6923219851538343]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.5393687005470644,-2.246515249434627,0.71338606911949],"aabb_xy":[[-0.5846473154282137,-2.310515248782811],[-0.49409008566591517,-2.1825152500864435]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.5962635866599072,-2.4577479321414066,0.71338606911949],"aabb_xy":[[-0.6003795367719797,-2.4618634871742517],[-0.5921476365478344,-2.4536323771085606]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[0.642748283982089,1.6358459221436452,0.71338606911949],"aabb_xy":[[0.6068347795570993,1.5999324139268907],[0.6786617884070786,1.6717594303603998]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.5334963800643768,-0.7953225416224483,0.71338606911949],"aabb_xy":[[-0.5834963804249429,-0.8453025288320511],[-0.4834963797038108,-0.7453425544128452]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.011246462331085061,-1.7359419086629848,0.71338606911949],"aabb_xy":[[-0.006253537928251562,-1.7500334508517579],[0.02874646259042169,-1.7218503664742126]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.2908469296379866,-0.4895677017781641,0.71338606911949],"aabb_xy":[[-0.3558469275196344,-0.540691365484705],[-0.22584693175633885,-0.4384440380716233]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.1630879296342589,1.6819467103664167,0.71338606911949],"aabb_xy":[[-0.23308793227084523,1.661841845370551],[-0.09308792699767254,1.702051575362282]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[0.14808893964494363,-1.7184456104978425,0.71338606911949],"aabb_xy":[[0.08408893926741001,-1.768190877348655],[0.21208894002247725,-1.6687003436470305]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.569034888773587,0.9254814037024603,0.71338606911949],"aabb_xy":[[-0.6330348908233191,0.8853869206131524],[-0.5050348867238551,0.9655758867917683]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[0.500557512013232,-0.7620772940550762,0.71338606911949],"aabb_xy":[[0.49497584037910314,-0.7745772938728516],[0.5061391836473607,-0.7495772942373006]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.23049818050969645,0.5461263364672138,0.71338606911949],"aabb_xy":[[-0.3004981769196582,0.5256884008155318],[-0.1604981840997346,0.5665642721188953]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[-0.6210435626724861,-0.1357139213635885,0.71338606911949],"aabb_xy":[[-0.6302034416163627,-0.14224513940712552],[-0.6118836837286095,-0.1291827033200515]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[-0.1740562985979569,0.9490100250925222,0.71338606911949],"aabb_xy":[[-0.22393899547565313,0.8990100258462476],[-0.1241736017202607,0.999010024338797]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[0.23905657109497203,1.222758801168145,0.71338606911949],"aabb_xy":[[0.23084202597928802,1.2140822108705032],[0.24727111621065598,1.2314353914657858]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[-0.3841305720101442,-1.716702216640333,0.71338606911949],"aabb_xy":[[-0.40663057252218476,-1.739194075005731],[-0.36163057149810357,-1.6942103582749344]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_32","position":[0.6248326580625061,-1.0873888826028135,0.71338606911949],"aabb_xy":[[0.5648326564195842,-1.1393890318947577],[0.684832659705428,-1.0353887333108693]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_33","position":[-0.4839966489822831,0.5075728925798857,0.71338606911949],"aabb_xy":[[-0.4983310741084466,0.49551267702534685],[-0.4696622238561197,0.5196331081344245]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897680573342703,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7236.png","name":"7236"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7236.png","name":"7236"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2177.png","name":"2177"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9288.png","name":"9288"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4535.png","name":"4535"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1033.png","name":"1033"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":550.5734352630527,"rotation_z_degrees":327.9697912367195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0048197816024767234,-0.013731684237626673,0.01989059304588663]},{"name":"camera_2","offset_m":[-0.012567952691035042,0.014129046679027885,-0.011968669611519989]},{"name":"camera_3","offset_m":[0.014049585768228467,-0.017172074652418864,0.008532078588254804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001392621284420261,0.0016955182149252512,-0.00045071902172556127],"end_effector_yaw_offset_degrees":-0.47152241472972745},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006700424144872041,-0.0012683459878574713,-2.913960049603882e-05],"end_effector_yaw_offset_degrees":-0.45949963500245317},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004233094671887102,-0.000595055162889711,-0.000184658842487392],"end_effector_yaw_offset_degrees":0.9504318717976905}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033336116512172466,0.003297932738496057],"position_m":[0.34996638834878274,0.22069793273849606,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00014483970778538316,-0.002436046058984003],"position_m":[0.2709551602922146,-0.340736046058984,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004456345886410592,0.0019411180905068784],"position_m":[0.3061563458864106,0.3792411180905069,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011250241229342171,-0.0016787924410971923],"position_m":[0.3562749758770658,0.0630212075589028,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a0337f81277dec95c1035a1097c6ec308913d9906acc159da7bbccaf6403709","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7236/tex_ceiling_textures_1033/tex_floor_textures_4535/tex_table_textures_2177/tex_wall_textures_9288","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4746326573149773290,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4746326573149773290,"visual_seed":4746326573149773290,"scene_id":"lab_003","finished_at":"2026-09-04T05:41:43"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T05:41:47","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.2995864549092788,1.198126579896421,0.71338606911949],"aabb_xy":[[-0.31964486652251917,1.1780614929872635],[-0.2795280432960386,1.2181916668055783]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.2616321753601737,-1.1221893449328995,0.71338606911949],"aabb_xy":[[0.2569970602079403,-1.1260566800100478],[0.266267290512407,-1.1183220098557507]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.2251976294700524,-2.2144675895624264,0.71338606911949],"aabb_xy":[[0.1611976272496454,-2.2588406736877147],[0.2891976316904594,-2.170094505437138]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.5328721468450328,0.9280865362507331,0.71338606911949],"aabb_xy":[[0.497872146868537,0.9186219202031166],[0.5678721468215286,0.9375511522983498]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.20808307886695743,-2.3122481580070584,0.71338606911949],"aabb_xy":[[0.19995539067364423,-2.321161766417766],[0.21621076706027068,-2.3033345495963506]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.5912245271565576,0.40305143736108606,0.71338606911949],"aabb_xy":[[-0.6020650053830725,0.38586515607043725],[-0.5803840489300427,0.42023771865173487]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.6250976661125267,1.4035030194043032,0.71338606911949],"aabb_xy":[[0.6196397204755066,1.323503016096644],[0.6305556117495468,1.483503022711962]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.29851378415471946,0.6283459219611411,0.71338606911949],"aabb_xy":[[-0.34848707815797986,0.5783459214065937],[-0.24854049015145896,0.6783459225156884]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.5494826461438072,-2.163174180536659,0.71338606911949],"aabb_xy":[[0.5377144593491496,-2.2481741804418807],[0.5612508329384647,-2.0781741806314376]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[-0.42313847395597176,1.4651610783113793,0.71338606911949],"aabb_xy":[[-0.432485481538267,1.4508574560937353],[-0.41379146637367653,1.4794647005290233]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.563620921566472,1.7081404913571059,0.71338606911949],"aabb_xy":[[-0.5787232230274899,1.6930389697260435],[-0.5485186201054537,1.7232420129881674]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.06989051680576452,-0.2610972712758013,0.71338606911949],"aabb_xy":[[-0.08251730409296087,-0.27064334497737413],[-0.057263729518568174,-0.25155119757422834]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[0.565653620665896,-1.7832146099742774,0.71338606911949],"aabb_xy":[[0.5497691274005708,-1.7975675502731012],[0.5815381139312211,-1.768861669675453]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.03334505233345164,0.8376832224341833,0.71338606911949],"aabb_xy":[[-0.09734504963579804,0.7933167954663264],[0.03065494496889476,0.8820496494020399]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.38442219885287165,-0.45539000081933967,0.71338606911949],"aabb_xy":[[-0.3924655587788268,-0.5403900019147061],[-0.3763788389269164,-0.37038999972397324]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.3182878226585677,-0.7446893004664101,0.71338606911949],"aabb_xy":[[0.31415196632586756,-0.7821892999107671],[0.32242367899126795,-0.7071893010220531]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.25630265866025903,0.9855817668100451,0.71338606911949],"aabb_xy":[[0.20130718083959964,0.9305817653761381],[0.3112981364809184,1.040581768243952]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.44316458125397723,-1.3900044419531716,0.71338606911949],"aabb_xy":[[-0.5268868067540597,-1.4800044454878674],[-0.3594423557538947,-1.3000044384184755]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.5194781761154226,-0.23267031294763552,0.71338606911949],"aabb_xy":[[-0.5692949555802573,-0.2826703114319389],[-0.4696613966505878,-0.18267031446333212]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.6413275311384647,1.1016198765460778,0.71338606911949],"aabb_xy":[[0.6325254758294919,1.0938085503911485],[0.6501295864474373,1.1094312027010067]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.10286027626482952,-2.457297068235147,0.71338606911949],"aabb_xy":[[0.03886027767825706,-2.5043040316346556],[0.16686027485140198,-2.410290104835638]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.1950656940022668,-1.5677784731298046,0.71338606911949],"aabb_xy":[[-0.24506569502140213,-1.6042446888676327],[-0.14506569298313157,-1.5313122573919768]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.5343504999590769,0.3692970052438307,0.71338606911949],"aabb_xy":[[0.5118504999489285,0.3552007856042274],[0.5568504999692251,0.38339322488343397]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[-0.5158653584077076,0.7097911139584405,0.71338606911949],"aabb_xy":[[-0.5708390804440405,0.6547911143942072],[-0.46089163637137476,0.7647911135226736]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.2401487248284826,-1.5950500990010759,0.71338606911949],"aabb_xy":[[0.22025768494814238,-1.6077059102857731],[0.26003976470882284,-1.5823942877163795]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[0.4506935972917019,-1.948015006072982,0.71338606911949],"aabb_xy":[[0.41691803810100886,-1.9620535012861466],[0.4844691564823948,-1.9339765108598168]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.01154142037640915,1.1378336663771997,0.71338606911949],"aabb_xy":[[-0.029334927311325587,1.120033920781402],[0.006252086558507286,1.1556334119729974]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[-0.32009868172298345,1.670323563300642,0.71338606911949],"aabb_xy":[[-0.3425986812466908,1.647827615850021],[-0.297598682199276,1.6928195107512625]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.19560380091881535,1.3398297414317772,0.71338606911949],"aabb_xy":[[-0.23414949374401642,1.3012839703755885],[-0.15705810809361434,1.378375512487966]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.3184156995676033,-2.5490086016231146,0.71338606911949],"aabb_xy":[[0.3078482199095043,-2.5595536317361227],[0.3289831792257023,-2.5384635715101056]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_30","position":[0.6672799083838588,1.1606760882706926,0.71338606911949],"aabb_xy":[[0.6447799085699564,1.1562014719002116],[0.6897799081977611,1.165150704641173]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_31","position":[0.6381392483603601,1.6528348532512669,0.71338606911949],"aabb_xy":[[0.6301452597826566,1.6448347731561763],[0.6461332369380633,1.660834933346357]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_32","position":[-0.1118529980875893,-2.4736193011702667,0.71338606911949],"aabb_xy":[[-0.11947726617776756,-2.4812525247068105],[-0.10422872999741108,-2.465986077633723]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[-0.38298843545265177,-1.2236453606747886,0.71338606911949],"aabb_xy":[[-0.41798843372277167,-1.2307194883697765],[-0.34798843718253186,-1.2165712329798002]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840102406864338,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7724.png","name":"7724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7724.png","name":"7724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2766.png","name":"2766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6890.png","name":"6890"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/135.png","name":"135"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7466.png","name":"7466"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":588.0258508673645,"rotation_z_degrees":38.84931476728095,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004957982077408562,-0.006122989490434128,-0.007264795070065229]},{"name":"camera_2","offset_m":[0.009415132381265422,0.0005997132395138133,-0.010082568891069421]},{"name":"camera_3","offset_m":[0.016341369827223267,0.010098803431177791,0.013318815022916413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004959053520292504,-0.0012929527348612374,0.0018407695037246036],"end_effector_yaw_offset_degrees":-0.41399473113601526},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00046349063833411646,-0.0011047569073793242,-0.0011895954245618131],"end_effector_yaw_offset_degrees":-0.7654372037062349},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008610111463164599,0.000494463271660351,-0.0017637157846269115],"end_effector_yaw_offset_degrees":-0.7929021410125736}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002837483980713271,0.0041909233896867725],"position_m":[0.3530162516019287,0.22159092338968678,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007593909077895167,-0.0018986358960890416],"position_m":[0.27034060909221047,-0.340198635896089,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015628171376608547,-2.3500986890048065e-05],"position_m":[0.30013718286233915,0.37727649901311,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004281206644726453,-0.0011986400960289434],"position_m":[0.3531187933552735,0.06350135990397104,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0a007914b88a3f43806e1fa4dc14f4555466ff00c2ec4de1a5acddc0055c4850","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7724/tex_ceiling_textures_7466/tex_floor_textures_135/tex_table_textures_2766/tex_wall_textures_6890","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7660574880929717739,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7660574880929717739,"visual_seed":7660574880929717739,"scene_id":"lab_003","finished_at":"2026-09-04T05:44:48"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T05:44:52","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.4769168624092549,-1.2958850511187694,0.71338606911949],"aabb_xy":[[-0.5196835692886751,-1.3598850545405718],[-0.4341501555298347,-1.231885047696967]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.6263354632961831,1.590039499443343,0.71338606911949],"aabb_xy":[[-0.6297761395362402,1.5861780664689789],[-0.6228947870561259,1.5939009324177078]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.33889858074419354,0.697933062116928,0.71338606911949],"aabb_xy":[[0.2975940376804575,0.6339330625488109],[0.3802031238079295,0.761933061685045]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.3655334088843045,-1.0656430970311654,0.71338606911949],"aabb_xy":[[0.2855334119212653,-1.142718738674939],[0.44553340584734363,-0.988567455387392]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.16044882542266214,-2.0482011017333526,0.71338606911949],"aabb_xy":[[-0.25044882215827236,-2.1013845650506466],[-0.07044882868705193,-1.9950176384160576]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.5798211858737409,-1.2040612298135003,0.71338606911949],"aabb_xy":[[-0.5941556109999043,-1.2161214453680393],[-0.5654867607475774,-1.1920010142589617]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.5441885844381005,-0.04185859889903787,0.71338606911949],"aabb_xy":[[0.49418858277660566,-0.09185704115474057],[0.5941885860995951,0.008139843356664843]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.4190440890814464,1.2479753804944447,0.71338606911949],"aabb_xy":[[0.4089623820028729,1.1679753826023298],[0.42912579616001983,1.327975378386559]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.513040290030145,-1.4237465485654057,0.71338606911949],"aabb_xy":[[0.44904029363457176,-1.4877098369841393],[0.5770402864257179,-1.3597832601466722]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.310528211387884,1.6320110637158867,0.71338606911949],"aabb_xy":[[0.2505282107918678,1.5771985911706632],[0.3705282119839002,1.6868235362611101]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.4721506995125443,-2.363148867188001,0.71338606911949],"aabb_xy":[[-0.4813105784564209,-2.369680085231538],[-0.4629908205686677,-2.3566176491444644]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.48367636939479863,-2.5045470896611075,0.71338606911949],"aabb_xy":[[-0.5027886767527775,-2.5236818685383495],[-0.46456406203681977,-2.4854123107838655]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.06614733618215352,-2.3864219214191253,0.71338606911949],"aabb_xy":[[-0.1461473335857469,-2.466414492617308],[0.013852661221439909,-2.3064293502209425]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.4591911109149842,-1.8125059494967855,0.71338606911949],"aabb_xy":[[0.37919110875222173,-1.8924611331229289],[0.5391911130777467,-1.7325507658706416]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.24413912004696336,1.1380561868175745,0.71338606911949],"aabb_xy":[[0.16413912206617828,1.1304546458557225],[0.32413911802774836,1.1456577277794264]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.5710808261495102,-1.8111696953841803,0.71338606911949],"aabb_xy":[[-0.5797787884402255,-1.823294669691655],[-0.5623828638587949,-1.7990447210767055]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.5757016599234828,-1.0201386040588056,0.71338606911949],"aabb_xy":[[-0.62568589563166,-1.0701386028723014],[-0.5257174242153055,-0.9701386052453103]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.2774029738210587,-1.5233835863859295,0.71338606911949],"aabb_xy":[[0.21340297241306802,-1.5751725379098542],[0.34140297522904933,-1.4715946348620048]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.13014523868458516,-1.827523755934769,0.71338606911949],"aabb_xy":[[0.10149590632416891,-1.8561693152118446],[0.15879457104500136,-1.798878196657693]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[0.5229541619917264,0.7913217903595591,0.71338606911949],"aabb_xy":[[0.5136605437545757,0.7538217918714252],[0.5322477802288769,0.828821788847693]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.38874508060991175,-0.4454841336089985,0.71338606911949],"aabb_xy":[[0.35496952141921884,-0.45952262882216355],[0.4225206398006048,-0.4314456383958335]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.09490038150407909,1.7390815259761117,0.71338606911949],"aabb_xy":[[0.057400380319286286,1.7346633032800507],[0.13240038268887186,1.7434997486721717]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.5510439943153462,-0.31513962427574427,0.71338606911949],"aabb_xy":[[-0.6060439939370921,-0.370123317063217],[-0.4960439946936004,-0.26015593148827154]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.6600107811249933,1.552781014453053,0.71338606911949],"aabb_xy":[[0.6000107808735922,1.4984996894165883],[0.7200107813763945,1.6070623394895176]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.4480694720214543,0.7523523916303501,0.71338606911949],"aabb_xy":[[-0.45782546153062814,0.7425898575711154],[-0.43831348251228036,0.7621149256895843]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[-0.10746609628750381,-1.0666326831755246,0.71338606911949],"aabb_xy":[[-0.14431664422449142,-1.1041326839985586],[-0.07061554835051621,-1.0291326823524911]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.022189713292074198,-0.7105320017318282,0.71338606911949],"aabb_xy":[[-0.05968971346394614,-0.7432327371147354],[0.015310286879797741,-0.677831266348921]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.382014233712329,0.9330298911061696,0.71338606911949],"aabb_xy":[[-0.4195142352279607,0.9218031180900246],[-0.3445142321966973,0.9442566641223147]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[-0.2806897892705556,-0.14413606638169973,0.71338606911949],"aabb_xy":[[-0.29153026749707045,-0.16132234767234852],[-0.26984931104404064,-0.1269497850910509]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_29","position":[-0.4025337380126821,-0.5362914354840989,0.71338606911949],"aabb_xy":[[-0.4275337375644206,-0.5464339193492336],[-0.3775337384609436,-0.5261489516189641]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[-0.2999856114536101,-0.8337356116319867,0.71338606911949],"aabb_xy":[[-0.36398561474331814,-0.8770705306359042],[-0.23598560816390193,-0.790400692628069]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_31","position":[0.5633388420407877,-1.583718067245624,0.71338606911949],"aabb_xy":[[0.545838841781451,-1.5978096094343968],[0.5808388423001243,-1.5696265250568515]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_32","position":[0.6681291692686917,1.6904153546114462,0.71338606911949],"aabb_xy":[[0.6534857637146586,1.675756634954662],[0.6827725748227246,1.7050740742682304]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_33","position":[-0.26415878274361176,-1.6489283740173926,0.71338606911949],"aabb_xy":[[-0.2976379500046527,-1.6824074873884998],[-0.23067961548257082,-1.6154492606462858]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_34","position":[0.013018344231566892,1.021355225854332,0.71338606911949],"aabb_xy":[[0.007051805290831102,1.0153940811949678],[0.01898488317230268,1.027316370513696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877656871683655,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5511.png","name":"5511"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3662.png","name":"3662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7743.png","name":"7743"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3915.png","name":"3915"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":529.5957267963527,"rotation_z_degrees":212.17899703110106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008665053468160676,-0.016176891428634734,-0.005645982992135465]},{"name":"camera_2","offset_m":[0.01704111514892596,0.01162485672077768,0.01675101484328392]},{"name":"camera_3","offset_m":[0.005903212514144225,-0.005835210000595694,0.003604700556976783]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000764947574843185,0.0006285221314834256,0.0009082148819532644],"end_effector_yaw_offset_degrees":-0.9084793250550858},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012267863135771333,-0.0015274290089963443,4.568435819614965e-05],"end_effector_yaw_offset_degrees":-0.6723841090221319},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006743767513926256,-0.0009104885128826123,0.0009586879525085037],"end_effector_yaw_offset_degrees":0.3850681007094905}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003073227683075177,0.0028267693930071032],"position_m":[0.35022677231692484,0.22022676939300712,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023538724657480537,-0.004018805859513445],"position_m":[0.27345387246574804,-0.3423188058595134,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006964592249068405,0.0007920394973104485],"position_m":[0.3023964592249069,0.37809203949731046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00025594594274904164,-0.0016607935066339464],"position_m":[0.357655945942749,0.06303920649336604,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dc7e5d82328fdbc16b4abd87c6814aa42dcb75b23454a2aa6fc91c54a8951542","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6711/tex_ceiling_textures_3915/tex_floor_textures_7743/tex_table_textures_5511/tex_wall_textures_3662","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8378847106422422657,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8378847106422422657,"visual_seed":8378847106422422657,"scene_id":"lab_003","finished_at":"2026-09-04T05:47:53"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T05:47:56","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.627390756647798,1.6388648570109612,0.71338606911949],"aabb_xy":[[-0.6449374515639168,1.60136485544671],[-0.6098440617316789,1.6763648585752124]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.5711221997551683,0.27201684778638313,0.71338606911949],"aabb_xy":[[0.5161222001334225,0.2170331549989104],[0.6261221993769142,0.32700054057385586]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.39886280446141864,0.7028409388610313,0.71338606911949],"aabb_xy":[[0.33486280715907224,0.6584745118931745],[0.46286280176376504,0.747207365828888]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.1775880251648213,-0.9439777887389922,0.71338606911949],"aabb_xy":[[-0.20280886202466095,-0.9692015395918788],[-0.1523671883049816,-0.9187540378861053]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.48151137236723274,1.1032438642355142,0.71338606911949],"aabb_xy":[[-0.5615113710241186,1.0887390053112513],[-0.4015113737103467,1.1177487231597771]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.6882239902119567,-1.4857650400947242,0.71338606911949],"aabb_xy":[[0.6595746578515403,-1.5144105993717998],[0.7168733225723728,-1.4571194808176482]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.4156471340660912,1.0021537594682113,0.71338606911949],"aabb_xy":[[0.40387894727143375,0.91715375956299],[0.4274153208607488,1.087153759373433]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.10258075662639532,-0.0815567882576711,0.71338606911949],"aabb_xy":[[-0.15770596225598607,-0.1415567896989582],[-0.047455550996804534,-0.02155678681638395]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.004558873693923937,-0.8503007185500682,0.71338606911949],"aabb_xy":[[-0.04542536201425329,-0.9003007173635639],[0.054543109402101164,-0.8003007197365727]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.27628060885565975,-0.25085359164916055,0.71338606911949],"aabb_xy":[[-0.3212731955741102,-0.2958535909236093],[-0.2312880221372094,-0.2058535923747118]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.6448228313472248,0.9847032438381551,0.71338606911949],"aabb_xy":[[0.6413821551071677,0.9808418108637906],[0.648263507587282,0.9885646768125196]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.6110798658862909,-1.836749388160988,0.71338606911949],"aabb_xy":[[-0.6219314721351665,-1.847608678888639],[-0.6002282596374153,-1.825890097433337]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.39270308584982255,1.2299308340222401,0.71338606911949],"aabb_xy":[[-0.4152030853735299,1.2074348865716191],[-0.3702030863261151,1.2524267814728607]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.05650343579515149,-2.075023205587393,0.71338606911949],"aabb_xy":[[0.04850994599986948,-2.083021337527869],[0.06449692559043353,-2.067025073646918]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.40522135184713726,-0.5985006146381717,0.71338606911949],"aabb_xy":[[0.3702213535364418,-0.6062156295617175],[0.4402213501578327,-0.5907855997146262]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.2956039888099034,-0.7873347542754228,0.71338606911949],"aabb_xy":[[-0.3036473487358586,-0.8723347553707891],[-0.28756062888394823,-0.7023347531800562]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[-0.1526812129334263,-1.9594582724130527,0.71338606911949],"aabb_xy":[[-0.17768121286594418,-1.9663409406339762],[-0.1276812130009084,-1.9525756041921296]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.330682379307138,0.3557013983576045,0.71338606911949],"aabb_xy":[[-0.38068238059097786,0.30572254396698234],[-0.28068237802329793,0.40568025274822656]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.38175914885189255,0.08608638447415817,0.71338606911949],"aabb_xy":[[-0.43123957006585134,0.022086386561306362],[-0.33227872763793376,0.15008638238701]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.4423170924883028,-1.0244920902773202,0.71338606911949],"aabb_xy":[[-0.5323170922114769,-1.0475654428124999],[-0.35231709276512857,-1.0014187377421402]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.37496165638152507,-0.5959910290164321,0.71338606911949],"aabb_xy":[[-0.389605061935558,-0.6106497486732162],[-0.360318250827492,-0.5813323093596477]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.6846714596545231,-1.7224441591131474,0.71338606911949],"aabb_xy":[[-0.6933854287044575,-1.7449441597723354],[-0.6759574906045885,-1.699944158453959]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.28590634709231505,1.1126409149005383,0.71338606911949],"aabb_xy":[[-0.2985090462293915,1.1000455186756728],[-0.2733036479552386,1.1252363111254038]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.5457925530937155,0.45255564635192114,0.71338606911949],"aabb_xy":[[0.5383800975523271,0.44670443593029324],[0.553205008635104,0.45840685677354914]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[-0.38472564988571284,-1.4489873823397512,0.71338606911949],"aabb_xy":[[-0.3895692446469428,-1.4538390348187356],[-0.37988205512448286,-1.4441357298607673]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_25","position":[0.2183710213040474,-1.6766116015965908,0.71338606911949],"aabb_xy":[[0.21423516497134723,-1.714111601040948],[0.22250687763674762,-1.639111602152234]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.44719061378851815,-1.749799806341094,0.71338606911949],"aabb_xy":[[-0.4580963898760809,-1.8297998027399234],[-0.4362848377009555,-1.669799809942265]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.6698237021313398,-0.26091519839558863,0.71338606911949],"aabb_xy":[[-0.6751562167859528,-0.26623952664082423],[-0.6644911874767268,-0.25559087015035303]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[0.4839230543504116,-0.26349893572331373,0.71338606911949],"aabb_xy":[[0.4768827444168747,-0.3434989351229852],[0.4909633642839487,-0.18349893632364236]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[-0.3340153150632037,-2.0955740003609504,0.71338606911949],"aabb_xy":[[-0.4190153134806269,-2.1804482958232354],[-0.24901531664578047,-2.0106997048986655]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[-0.40022782068344787,1.4105672266522973,0.71338606911949],"aabb_xy":[[-0.4067294571914525,1.4007994046259877],[-0.39372618417544325,1.4203350486786073]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_31","position":[0.28651811157414586,1.2856875796100682,0.71338606911949],"aabb_xy":[[0.20651811014401866,1.2061704245974585],[0.36651811300427306,1.3652047346226774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870315754978824,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/902.png","name":"902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/902.png","name":"902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/824.png","name":"824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/37.png","name":"37"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8349.png","name":"8349"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6499.png","name":"6499"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":682.9195753134953,"rotation_z_degrees":208.2850462218688,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015234407368280193,0.0186943988446333,-0.013124999830471117]},{"name":"camera_2","offset_m":[-0.010872512506630287,0.001912509696703233,0.0078197927872719]},{"name":"camera_3","offset_m":[0.0035936759341826177,-0.019869280410951064,-0.01487204186936078]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011621591341551252,-6.159613079200995e-05,0.0016916773621333697],"end_effector_yaw_offset_degrees":-0.7833327313566845},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001753731058810144,0.0005872473679384115,-0.0002861308182994882],"end_effector_yaw_offset_degrees":0.4535314609783956},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011837058513708243,-0.0004130725553066351,0.0012458337099693238],"end_effector_yaw_offset_degrees":-0.4573762481882242}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0041476666762451375,-0.002584818453346195],"position_m":[0.34915233332375484,0.21481518154665383,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003353719561322678,-0.004430967881670551],"position_m":[0.2677462804386773,-0.34273096788167057,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011494330843307967,0.0019834038737364867],"position_m":[0.3028494330843308,0.3792834038737365,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014181623745488704,0.002351358188131766],"position_m":[0.3559818376254511,0.06705135818813177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc6754975ab795fe76f988f54788096bbc8c1e0a2d8a0609908bfaa58591d740","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_902/tex_ceiling_textures_6499/tex_floor_textures_8349/tex_table_textures_824/tex_wall_textures_37","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6904916899098848056,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6904916899098848056,"visual_seed":6904916899098848056,"scene_id":"lab_003","finished_at":"2026-09-04T05:50:52"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T05:50:56","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.24343214988115802,-2.2977038612353344,0.71338606911949],"aabb_xy":[[-0.248275744642388,-2.302555513714319],[-0.23858855511992805,-2.2928522087563508]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.03104720986409326,0.6965684539153143,0.71338606911949],"aabb_xy":[[-0.0390835445653781,0.6885303346108975],[-0.02301087516280842,0.7046065732197311]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.07618193063965528,-0.1974637527103691,0.71338606911949],"aabb_xy":[[-0.09128423210067335,-0.21256527434143085],[-0.061079629178637164,-0.1823622310793072]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.05856803717110848,0.6736645532528458,0.71338606911949],"aabb_xy":[[0.02123676064586586,0.6390114984579937],[0.0958993136963511,0.7083176080476982]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.27735798857804916,1.0294281122519187,0.71338606911949],"aabb_xy":[[-0.288198466804564,1.01224183096127],[-0.2665175103515342,1.0466143935425674]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.6135023197478253,0.7080656228275726,0.71338606911949],"aabb_xy":[[0.5635023201714907,0.6580850438754667],[0.6635023193241602,0.7580462017796786]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.5778850918030438,-2.1630161834825907,0.71338606911949],"aabb_xy":[[-0.6082832029021873,-2.19342308548426],[-0.5474869807039001,-2.1326092814809208]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.4656280472557066,-0.24633294092936664,0.71338606911949],"aabb_xy":[[-0.5156280476162727,-0.29631292813896953],[-0.41562804689514055,-0.19635295371976366]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.4302328295760988,-1.1023549019042918,0.71338606911949],"aabb_xy":[[-0.4384473746917827,-1.1110314922019329],[-0.4220182844604147,-1.0936783116066502]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.1435050726496071,-1.1470839030400428,0.71338606911949],"aabb_xy":[[-0.22350506961264627,-1.2241595446838163],[-0.06350507568656794,-1.0700082613962694]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.16523248000009683,-1.6080665489049994,0.71338606911949],"aabb_xy":[[-0.19969482739823857,-1.6425604313028215],[-0.13077013260195497,-1.573572666507176]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.5540692182371278,1.0746542304163649,0.71338606911949],"aabb_xy":[[-0.6040692192562631,1.0381880146785372],[-0.5040692172179926,1.111120446154193]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.2829541160752155,-2.338875317222827,0.71338606911949],"aabb_xy":[[0.27571035002897015,-2.4188753154264293],[0.2901978821214608,-2.2588753190192246]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.320060772841104,0.7652050832553039,0.71338606911949],"aabb_xy":[[0.23006077634023228,0.7192934408368455],[0.4100607693419758,0.811116725673762]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.13001823442323823,-2.5187380451916943,0.71338606911949],"aabb_xy":[[-0.18001823570707817,-2.568716899582316],[-0.08001823313939825,-2.4687591908010718]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.0846355436471844,1.1548322938740578,0.71338606911949],"aabb_xy":[[-0.1065252912361252,1.0648322965848087],[-0.0627457960582436,1.244832291163307]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.6181028046205699,0.8805045311148492,0.71338606911949],"aabb_xy":[[-0.6426164287175757,0.8562399378128128],[-0.593589180523564,0.9047691244168857]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.24048523664089416,-0.9901407369299495,0.71338606911949],"aabb_xy":[[-0.2575873145992623,-1.0072475424612195],[-0.223383158682526,-0.9730339313986799]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.21905364048047493,-1.0804945024123889,0.71338606911949],"aabb_xy":[[0.19688111350382403,-1.1026701695685117],[0.24122616745712572,-1.0583188352562656]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.5494311030077432,0.3116980151413107,0.71338606911949],"aabb_xy":[[0.48943110275634194,0.257416690104846],[0.6094311032591443,0.36597934017777534]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.17564444823695247,-0.612779604635145,0.71338606911949],"aabb_xy":[[-0.2131444497525842,-0.62400637765129],[-0.13814444672132078,-0.6015528316189999]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[-0.5865437099702907,-1.013892078135743,0.71338606911949],"aabb_xy":[[-0.6176906288138739,-1.08389207682255],[-0.5553967911267077,-0.9438920794489356]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.4911905213058303,-1.2532542337605828,0.71338606911949],"aabb_xy":[[0.48723003753609595,-1.2609220983461034],[0.49515100507556464,-1.2455863691750622]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.48146735074707814,-1.657836370386271,0.71338606911949],"aabb_xy":[[0.46823640521239684,-1.6710637894082705],[0.49469829628175943,-1.6446089513642717]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[0.35639178441430186,1.3846547040244452,0.71338606911949],"aabb_xy":[[0.27639178298417466,1.3051375490118355],[0.43639178584442906,1.4641718590370545]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[0.6105368084788458,1.566772358369,0.71338606911949],"aabb_xy":[[0.5465368051891376,1.5234374393650825],[0.6745368117685538,1.6101072773729177]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_26","position":[-0.3929281171839929,0.2694679330147336,0.71338606911949],"aabb_xy":[[-0.45692811859198357,0.21767898149080891],[-0.32892811577600223,0.3212568845386583]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[-0.38409914766983994,1.0352604711001612,0.71338606911949],"aabb_xy":[[-0.38753982390989716,1.031399038125797],[-0.3806584714297828,1.0391219040745259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687862397315732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8931.png","name":"8931"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8931.png","name":"8931"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8341.png","name":"8341"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8609.png","name":"8609"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6997.png","name":"6997"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":683.2483838822176,"rotation_z_degrees":253.98054169577222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011760374038334987,-0.013646595226952888,-0.010131426610177017]},{"name":"camera_2","offset_m":[0.013915994123340141,0.015039563068891097,0.015381953651577098]},{"name":"camera_3","offset_m":[-0.01940715170722813,-0.017453561144179307,0.007030467957751224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000919589983898861,0.0011401518204820402,0.0013606710610077088],"end_effector_yaw_offset_degrees":0.3639330777697103},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016431932524706631,0.0017079380861695446,-0.00017043378465353724],"end_effector_yaw_offset_degrees":0.997930254068617},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014059001109005362,-0.0015738471434830217,0.00046488042611500524],"end_effector_yaw_offset_degrees":-0.5003991945143724}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017012225741610178,-0.0007265037387177067],"position_m":[0.351598777425839,0.2166734962612823,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019180389070086378,-0.00497097550855844],"position_m":[0.27301803890700865,-0.34327097550855845,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030959616764280676,-0.003661270674257508],"position_m":[0.29860403832357196,0.3736387293257425,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004852829993248363,0.0036209327864465428],"position_m":[0.3525471700067516,0.06832093278644653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb6dd07143016688b125fc23c35010d4c5281f41eee4eb69aaa752874bdec3b2","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8931/tex_ceiling_textures_6997/tex_floor_textures_8609/tex_table_textures_1091/tex_wall_textures_8341","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2344366010423910905,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2344366010423910905,"visual_seed":2344366010423910905,"scene_id":"lab_003","finished_at":"2026-09-04T05:53:52"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T05:53:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.46620641517648065,1.2932712220900728,0.71338606911949],"aabb_xy":[[-0.47423268580710665,1.2845197271127204],[-0.45818014454585465,1.3020227170674257]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.5881784841186657,0.6975763099609713,0.71338606911949],"aabb_xy":[[0.5381942484104884,0.6475763111474757],[0.6381627198268428,0.7475763087744669]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.584356068240726,1.5143473909625507,0.71338606911949],"aabb_xy":[[-0.6643560693138463,1.5045693446251662],[-0.5043560671676056,1.524125437299935]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.10050595737233814,-1.411114871495661,0.71338606911949],"aabb_xy":[[-0.15547967940867102,-1.4661148710598941],[-0.04553223533600527,-1.3561148719314278]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[0.5693777290202049,1.1955499647221863,0.71338606911949],"aabb_xy":[[0.5194044350169444,1.1455499641676388],[0.6193510230234653,1.2455499652767335]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.6682077823672534,0.95806306568161,0.71338606911949],"aabb_xy":[[0.6642472985975192,0.9503952010960895],[0.6721682661369879,0.9657309302671307]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.2449189661751135,-0.6971414416639599,0.71338606911949],"aabb_xy":[[-0.2808324706001032,-0.7330549498807143],[-0.20900546175012377,-0.661227933447205]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.5025374362016648,-0.46324452995542,0.71338606911949],"aabb_xy":[[0.47624861188122397,-0.4895159636100712],[0.5288262605221052,-0.43697309630076875]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[0.66357666906001,-0.8356270603772384,0.71338606911949],"aabb_xy":[[0.6523316134893922,-0.8468688581013337],[0.6748217246306278,-0.8243852626531432]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.32554475907761504,-1.260299447258929,0.71338606911949],"aabb_xy":[[0.26054475643982156,-1.3117790459583762],[0.39054476171540853,-1.2088198485594823]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.3836189652580181,-1.2021971852789908,0.71338606911949],"aabb_xy":[[-0.3917466534513313,-1.2111107936896988],[-0.37549127706470486,-1.1932835768682832]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.6068020118855953,1.4317008065063512,0.71338606911949],"aabb_xy":[[-0.6418020101557151,1.4246266788113628],[-0.5718020136154753,1.4387749342013392]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.332483909760213,0.8732483343764477,0.71338606911949],"aabb_xy":[[-0.3699839097039795,0.8649552443416111],[-0.2949839098164467,0.8815414244112842]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.6649201493559802,0.48877153558413955,0.71338606911949],"aabb_xy":[[0.6314409820949394,0.4552924222130326],[0.6983993166170213,0.5222506489552465]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.5703520417007351,-0.3464527302186231,0.71338606911949],"aabb_xy":[[0.5328520409087396,-0.35282057117681315],[0.6078520424927305,-0.34008488926043295]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.118474339593025,1.4955844370686475,0.71338606911949],"aabb_xy":[[0.11119202321636132,1.4055844334591383],[0.1257566559696886,1.5855844406781563]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.2328797504567897,-0.22687518621746294,0.71338606911949],"aabb_xy":[[-0.24166097760402602,-0.23565493350599315],[-0.22409852330955357,-0.21809543892893285]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.1960730553653094,0.10332149652902922,0.71338606911949],"aabb_xy":[[-0.2370909987516803,0.05332149589807188],[-0.15505511197893854,0.15332149715998655]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.015246705725986964,-1.8940013935371616,0.71338606911949],"aabb_xy":[[-0.04975329283108587,-1.923753926951044],[0.0802467042830598,-1.8642488601232787]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.17723875606477713,1.2474210773447685,0.71338606911949],"aabb_xy":[[0.16854079377406184,1.2352961030372935],[0.18593671835549241,1.259546051652243]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.2741812352742833,-0.6578814011829865,0.71338606911949],"aabb_xy":[[0.2559754116130356,-0.6689068017649783],[0.29238705893553096,-0.646856000600995]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.21444710683722956,0.9214558420439638,0.71338606911949],"aabb_xy":[[0.15044711040990766,0.8742862182218675],[0.27844710326455147,0.9686254658660604]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.38393001356426176,0.1506682974658382,0.71338606911949],"aabb_xy":[[-0.41737018876028126,0.11722467163490811],[-0.35048983836824205,0.18411192329676826]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.32107169079901676,-1.6802393836053657,0.71338606911949],"aabb_xy":[[-0.34972102315943293,-1.7088849428824415],[-0.2924223584386005,-1.65159382432829]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.2860185483875295,-1.0935064933689762,0.71338606911949],"aabb_xy":[[0.2740858140257014,-1.1058886461768356],[0.29795128274935756,-1.0811243405611168]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.4104672530264732,-2.254920634675402,0.71338606911949],"aabb_xy":[[-0.45265166718730393,-2.318920634952613],[-0.36828283886564245,-2.1909206343981906]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[-0.26308910635542126,1.106655780456994,0.71338606911949],"aabb_xy":[[-0.34308910778554846,1.0271386254443846],[-0.18308910492529407,1.1861729354696036]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.11221775657703892,-1.6745567739116194,0.71338606911949],"aabb_xy":[[0.06223894806672303,-1.724556773917338],[0.1621965650873548,-1.6245567739059004]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.21844616629593405,0.7760655531406968,0.71338606911949],"aabb_xy":[[-0.2302143530905916,0.6910655532354754],[-0.20667797950127656,0.8610655530459186]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[-0.45799414073301314,-1.7727430832762545,0.71338606911949],"aabb_xy":[[-0.49478877385791936,-1.8096489583728368],[-0.4211995076081068,-1.7358372081796722]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_30","position":[0.2113408484661451,-0.8150669270768109,0.71338606911949],"aabb_xy":[[0.1987140611789487,-0.8246130007783837],[0.2239676357533414,-0.8055208533752379]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_31","position":[-0.062492213437190136,1.4647210688412557,0.71338606911949],"aabb_xy":[[-0.12649221260696006,1.4179543817222933],[0.0015077857325798136,1.5114877559602182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861365835399028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5231.png","name":"5231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5231.png","name":"5231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9284.png","name":"9284"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7246.png","name":"7246"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":784.2683420070803,"rotation_z_degrees":217.575850719353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0042624061638319825,0.007478384521779562,-0.0018078032294222592]},{"name":"camera_2","offset_m":[-0.010908710200946001,0.003600827754759523,0.014967540554117507]},{"name":"camera_3","offset_m":[0.0016860583205848996,0.00963028400597702,-0.004231270681383802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004963940871769942,0.0005333931878820099,-0.001087194148059662],"end_effector_yaw_offset_degrees":0.4506621090287679},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.518452307648204e-05,-0.0001537214092847297,-0.0018731994252411265],"end_effector_yaw_offset_degrees":0.5174008459868162},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007376520781165569,-0.0013536037113799435,0.0013769466409959464],"end_effector_yaw_offset_degrees":-0.8085755786892221}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017303194399301168,-0.004043709333150155],"position_m":[0.35503031943993013,0.21335629066684986,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032386093849304355,0.0008274751008224331],"position_m":[0.27433860938493043,-0.33747252489917756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004974248697951676,0.0044117647177521644],"position_m":[0.29672575130204837,0.3817117647177522,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025983424611465524,-0.00030129648328468175],"position_m":[0.35999834246114654,0.06439870351671531,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"771a81d819f0281056a80bab94f12f1ce7188019b0cfbff9c9bd757b2e783654","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5231/tex_ceiling_textures_1707/tex_floor_textures_8603/tex_table_textures_9284/tex_wall_textures_7246","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4123129069610303872,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4123129069610303872,"visual_seed":4123129069610303872,"scene_id":"lab_003","finished_at":"2026-09-04T05:56:55"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T05:56:58","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.4022242845234432,-0.20873556345968813,0.71338606911949],"aabb_xy":[[-0.45222428488400923,-0.258715550669291],[-0.3522242841628771,-0.15875557625008513]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.4534753941996462,-0.6726090176102333,0.71338606911949],"aabb_xy":[[-0.5034753952187816,-0.7090752333480612],[-0.40347539318051107,-0.6361428018724054]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.2875808422881816,0.1571410413930714,0.71338606911949],"aabb_xy":[[-0.35158084158234976,0.0931549010242172],[-0.22358084299401332,0.22112718176192558]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.6567678455308871,-0.7518978668592216,0.71338606911949],"aabb_xy":[[-0.6935624786557933,-0.7888037419558039],[-0.6199732124059808,-0.7149919917626394]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[0.4333256220828494,-2.4005406684557222,0.71338606911949],"aabb_xy":[[0.3833413863746722,-2.4505406672692183],[0.48330985779102664,-2.350540669642227]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.32453426642384486,-1.719127120686595,0.71338606911949],"aabb_xy":[[0.2774048874220091,-1.7831271217309965],[0.3716636454256804,-1.6551271196421926]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.5320985988900657,1.665440898532919,0.71338606911949],"aabb_xy":[[0.5145985997556985,1.655561271495331],[0.5495985980244329,1.6753205255705066]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.10179773167688311,-2.3883576822573573,0.71338606911949],"aabb_xy":[[0.0968984393703196,-2.4160346015599257],[0.10669702398344659,-2.360680762954788]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.42375027356158235,-0.9249939544181025,0.71338606911949],"aabb_xy":[[0.40125027355143406,-0.9390901740577056],[0.44625027357173064,-0.910897734778499]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.46438228429897044,0.563555187941986,0.71338606911949],"aabb_xy":[[0.4268822836343916,0.5478681299417637],[0.5018822849635489,0.5792422459422081]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[-0.22976186177686975,-2.0560730931334095,0.71338606911949],"aabb_xy":[[-0.2937618636892121,-2.1119842423914204],[-0.16576185986452743,-2.0001619438753995]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.18846043290363457,1.4777258500957307,0.71338606911949],"aabb_xy":[[-0.20039316726546264,1.4653436972878715],[-0.1765276985418065,1.4901080029035902]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.11223791547354678,-1.1985827240042979,0.71338606911949],"aabb_xy":[[-0.1282998429320644,-1.2835827258168895],[-0.09617598801502912,-1.1135827221917058]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.26422253933373546,-2.547730698657881,0.71338606911949],"aabb_xy":[[-0.2729365083836699,-2.5702306993170687],[-0.2555085702838009,-2.5252306979986923]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.023648444692819126,1.0654744814720467,0.71338606911949],"aabb_xy":[[-0.026334505494660206,1.0154744818294859],[0.07363139488029845,1.1154744811146067]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.6409149334586806,0.8082842517156856,0.71338606911949],"aabb_xy":[[0.5709149300671185,0.7729684780122547],[0.7109149368502424,0.8436000254191164]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.031823463013618714,-0.9406764511906569,0.71338606911949],"aabb_xy":[[-0.06641454586766392,-1.0056764514756877],[0.0027676198404265047,-0.8756764509056257]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.02684149101826605,-1.9207257515387988,0.71338606911949],"aabb_xy":[[-0.03147660617049943,-1.9245930866159475],[-0.02220637586603266,-1.91685841646165]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.6045327293714031,0.007169052544643506,0.71338606911949],"aabb_xy":[[0.5145327307769332,-0.009081533768777517],[0.6945327279658731,0.02341963885806453]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.11221706385604924,1.4997278163655472,0.71338606911949],"aabb_xy":[[0.10351910156533395,1.4876028420580725],[0.12091502614676453,1.5118527906730221]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[-0.3101794578726049,-2.28960307659233,0.71338606911949],"aabb_xy":[[-0.37417945814658315,-2.339669176789618],[-0.2461794575986267,-2.239536976395042]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.19644327828951536,-1.2440384036504113,0.71338606911949],"aabb_xy":[[0.16811356834097513,-1.2484991458441286],[0.22477298823805558,-1.2395776614566945]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[-0.018404939481342808,-1.470964513360393,0.71338606911949],"aabb_xy":[[-0.07840493973274398,-1.5252458383968577],[0.04159506077005837,-1.4166831883239284]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.4636061433332692,1.546341818715724,0.71338606911949],"aabb_xy":[[0.45598187524309103,1.5387085951791806],[0.4712304114234475,1.553975042252268]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[0.3905857499946166,-0.6107236541649714,0.71338606911949],"aabb_xy":[[0.35308575005085024,-0.619016744199808],[0.42808574993838305,-0.6024305641301348]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.5557916793678437,-2.1538795269714557,0.71338606911949],"aabb_xy":[[0.5007916801912541,-2.208869201746413],[0.6107916785444331,-2.0988898521964976]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[0.017461382171741202,1.3105736293880055,0.71338606911949],"aabb_xy":[[0.010179065795077541,1.220573625778496],[0.02474369854840485,1.400573632997514]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.5065212595707792,0.6536752244447528,0.71338606911949],"aabb_xy":[[-0.5364888164806049,0.6236752241468669],[-0.47655370266095354,0.6836752247426384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850293045154224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4557.png","name":"4557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4557.png","name":"4557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9555.png","name":"9555"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3480.png","name":"3480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8527.png","name":"8527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":553.7515420325178,"rotation_z_degrees":183.97260942547757,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012267936349868364,0.0009643354402379296,-0.017370554169999865]},{"name":"camera_2","offset_m":[-0.01228033821602895,0.018477638888589745,-0.012779035811279368]},{"name":"camera_3","offset_m":[-0.000907352693108248,-0.0007843392345934404,-0.01163762195578026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010506730959654194,0.00020023335153341974,0.0007937550025541515],"end_effector_yaw_offset_degrees":-0.8222451962529553},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010123149111957233,-0.0013391211652711487,-0.0007234164019229369],"end_effector_yaw_offset_degrees":0.7165923008532167},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011913136862671894,0.0009252060723617863,0.0019646947195041606],"end_effector_yaw_offset_degrees":-0.5833025995680927}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012310715340764613,-0.0004232578599319102],"position_m":[0.3545310715340765,0.2169767421400681,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013549626476124944,0.00462922956127024],"position_m":[0.2724549626476125,-0.3336707704387297,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023556563906278285,0.0036358925437351376],"position_m":[0.2993443436093722,0.38093589254373517,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018863831059996328,0.0014034436205487798],"position_m":[0.35928638310599964,0.06610344362054878,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"724ab764a787bea1d496d281f4ee8acbac553f07a4f1c9c7e99c089f9554dd16","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4557/tex_ceiling_textures_7986/tex_floor_textures_8527/tex_table_textures_9555/tex_wall_textures_3480","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7111944984542384665,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7111944984542384665,"visual_seed":7111944984542384665,"scene_id":"lab_003","finished_at":"2026-09-04T05:59:54"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T05:59:58","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.42122094875228466,-1.0691506127618786,0.71338606911949],"aabb_xy":[[-0.43298913554694224,-1.1541506126671004],[-0.4094527619576272,-0.9841506128566573]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.20833236932811533,-1.920547048341911,0.71338606911949],"aabb_xy":[[-0.2252431017644571,-1.9340192539345256],[-0.19142163689177355,-1.9070748427492963]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.6517859374074095,1.2307984698199284,0.71338606911949],"aabb_xy":[[0.6436722827340324,1.2226926533658995],[0.6598995920807866,1.2389042862739577]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.45422190378847,0.06368120880207195,0.71338606911949],"aabb_xy":[[-0.47671832522233404,0.0411812089953245],[-0.43172548235460584,0.08618120860881938]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.613809974539913,0.8072220646582142,0.71338606911949],"aabb_xy":[[0.5986378052582797,0.7920532077300109],[0.6289821438215464,0.8223909215864176]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.40972748080832455,-0.5413378886836497,0.71338606911949],"aabb_xy":[[-0.46972748245124635,-0.5933380379755938],[-0.34972747916540264,-0.48933773939170544]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.4010880300575016,0.9796744945035032,0.71338606911949],"aabb_xy":[[-0.40551865941234183,0.9742261227688207],[-0.3966574007026615,0.9851228662381859]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.6052685484354978,-0.1090580484261614,0.71338606911949],"aabb_xy":[[-0.6352361053453235,-0.13905804872404715],[-0.5753009915256722,-0.07905804812827566]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.27884478018581227,-1.767131859739179,0.71338606911949],"aabb_xy":[[-0.34284047758090885,-1.8311318580398876],[-0.21484908279071568,-1.7031318614384703]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.029092598110877388,-2.2733838371337822,0.71338606911949],"aabb_xy":[[0.01773086345759122,-2.28475230354007],[0.04045433276416354,-2.2620153707274935]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.5496919628192161,-0.9812771891014442,0.71338606911949],"aabb_xy":[[-0.5846919619491717,-0.9870224101771083],[-0.5146919636892604,-0.9755319680257801]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.37837083530509985,-2.322137569996301,0.71338606911949],"aabb_xy":[[0.34972150294468357,-2.3507831292733767],[0.407020167665516,-2.293492010719225]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.33742390496022245,1.4847243973150301,0.71338606911949],"aabb_xy":[[-0.40242390351729534,1.4549718639011475],[-0.2724239064031497,1.5144769307289128]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.5310129056685969,-2.3248835900787017,0.71338606911949],"aabb_xy":[[-0.5481149836269651,-2.3419903956099715],[-0.5139108277102288,-2.307776784547432]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.2974787676820566,-1.2673663134892281,0.71338606911949],"aabb_xy":[[0.28948527788677464,-1.275364445429704],[0.3054722574773387,-1.2593681815487527]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.40012366344393335,-0.9941183304194865,0.71338606911949],"aabb_xy":[[0.35012366479801216,-1.044037874078949],[0.45012366208985455,-0.9441987867600242]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.20490549959793508,0.9023245224139278,0.71338606911949],"aabb_xy":[[-0.23868105878862808,0.8882860272007629],[-0.17112994040724214,0.9163630176270929]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.1479550328552527,1.0580272285208072,0.71338606911949],"aabb_xy":[[-0.185455031278653,1.0448630145529765],[-0.11045503443185231,1.071191442488638]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.2773047747202687,-2.120401270847575,0.71338606911949],"aabb_xy":[[-0.34230477567739587,-2.17234948278128],[-0.21230477376314147,-2.0684530589138688]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.3085129632026351,-2.505069361187729,0.71338606911949],"aabb_xy":[[-0.3460129617782559,-2.5178056568512868],[-0.2710129646270143,-2.492333065524171]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.3158080442494371,-0.7341272115794433,0.71338606911949],"aabb_xy":[[0.2858163815155667,-0.7641272109162438],[0.34579970698330736,-0.7041272122426427]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.006517254186792387,1.1867929002993547,0.71338606911949],"aabb_xy":[[-0.057482747221198276,1.13500394877543],[0.07051725559478304,1.2385818518232794]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.16031642357752585,-0.02648890047230612,0.71338606911949],"aabb_xy":[[-0.20133436696389673,-0.07648890110326345],[-0.11929848019115497,0.023511100158651207]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.4740403834904363,0.8713767318986503,0.71338606911949],"aabb_xy":[[-0.5240233336779155,0.8213767322560895],[-0.4240574333029569,0.9213767315412104]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.16425383826825224,0.464973385618507,0.71338606911949],"aabb_xy":[[-0.18675383808215462,0.4604987692480263],[-0.14175383845434986,0.4694480019889877]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.017140142006128456,-0.6153068940597679,0.71338606911949],"aabb_xy":[[-0.028385197576746287,-0.6265486917838631],[-0.005895086435510618,-0.6040650963356725]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.09150401003154163,-1.633739048324867,0.71338606911949],"aabb_xy":[[-0.0991282781217199,-1.6413722718614112],[-0.0838797419413634,-1.6261058247883238]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.6203646482464844,-0.15383042253286883,0.71338606911949],"aabb_xy":[[0.5703646488062888,-0.2037983470171851],[0.67036464768668,-0.10386249804855249]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820303953394783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6470.png","name":"6470"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6470.png","name":"6470"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/442.png","name":"442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7580.png","name":"7580"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4459.png","name":"4459"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":568.3801728243337,"rotation_z_degrees":340.1333977425549,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01746341673280514,-0.009690807116414702,0.018596685599469625]},{"name":"camera_2","offset_m":[-0.010451421341580024,0.009609989308594961,-0.018499845968283673]},{"name":"camera_3","offset_m":[-0.01642661376701556,0.01633698491640115,0.019625484144357223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006300263751631552,-0.00156227722027463,-0.0001370156599974641],"end_effector_yaw_offset_degrees":0.8874966309857171},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017111710293092313,-0.0014505986643549545,0.001969643543775927],"end_effector_yaw_offset_degrees":0.4641402954940341},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002180371375270925,0.001162351096409846,-0.0017969473052722395],"end_effector_yaw_offset_degrees":-0.6771274501470286}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027589632266257222,0.0024353862395287574],"position_m":[0.3560589632266257,0.21983538623952878,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00200595188206703,0.003762393804624567],"position_m":[0.26909404811793297,-0.3345376061953754,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009697044072900785,-0.0038935490473694712],"position_m":[0.3007302955927099,0.37340645095263053,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016745285316946065,0.004679586843576145],"position_m":[0.3590745285316946,0.06937958684357613,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae3cf6e5406ad4521524e91d58f80fff7e8330bdc7224f113d144cb73f2804e2","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6470/tex_ceiling_textures_4459/tex_floor_textures_7249/tex_table_textures_442/tex_wall_textures_7580","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4945046731521489517,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4945046731521489517,"visual_seed":4945046731521489517,"scene_id":"lab_003","finished_at":"2026-09-04T06:03:08"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T06:03:12","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.3836929477422757,-0.8840730925291045,0.71338606911949],"aabb_xy":[[-0.42223864056747673,-0.922618863585293],[-0.34514725491707465,-0.8455273214729158]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.2735815958212443,1.6528738557046716,0.71338606911949],"aabb_xy":[[0.2236083018179838,1.602873855150124],[0.3235548898245047,1.7028738562592187]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.5851504298553039,0.43302935760670724,0.71338606911949],"aabb_xy":[[0.5796924842182837,0.3530293542990481],[0.5906083754923238,0.5130293609143664]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.48329982333058197,0.9904033451984051,0.71338606911949],"aabb_xy":[[-0.5095886476510225,0.9641319115437539],[-0.45701099901014125,1.0166747788530563]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.18998170731542752,-1.5512646980746123,0.71338606911949],"aabb_xy":[[-0.23099965070179837,-1.6012646987055696],[-0.1489637639290566,-1.501264697443655]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.030469342393449894,0.6317594085307601,0.71338606911949],"aabb_xy":[[0.02168811524621367,0.6229796612422301],[0.03925056954068612,0.6405391558192904]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.5713130340354193,-2.2359262024080695,0.71338606911949],"aabb_xy":[[0.5113130335275663,-2.2927729360939906],[0.6313130345432721,-2.1790794687221475]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.1847342441522325,1.251669914698354,0.71338606911949],"aabb_xy":[[0.15358732530864935,1.1816699160115467],[0.21588116299581558,1.321669913385161]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.5107849832670461,-0.0217934600298757,0.71338606911949],"aabb_xy":[[0.48828856183318203,-0.04429345983662314],[0.5332814047009102,0.0007065397768717396]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.38895261189534036,-1.0595136842561714,0.71338606911949],"aabb_xy":[[0.32495261546801846,-1.1066833080782679],[0.45295260832266226,-1.012344060434075]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.35994362298746135,-0.6344435099593033,0.71338606911949],"aabb_xy":[[-0.37427804811362475,-0.6465037255138422],[-0.34560919786129785,-0.6223832944047645]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.11544294340615457,1.281150649655726,0.71338606911949],"aabb_xy":[[-0.17944294669586267,1.237815730651808],[-0.05144294011644645,1.3244855686596433]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.30826884066321414,1.0368125588780868,0.71338606911949],"aabb_xy":[[0.2738064932650723,1.0023186764802636],[0.3427311880613559,1.071306441275909]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.41886194659456294,-1.3069091787815232,0.71338606911949],"aabb_xy":[[-0.45636194653832934,-1.3152022688163598],[-0.38136194665079653,-1.2986160887466867]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.345274173617942,-0.2631152006619488,0.71338606911949],"aabb_xy":[[-0.3677741741299826,-0.2856070590273472],[-0.3227741731059014,-0.24062334229655047]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.6870219290740542,1.203226513309854,0.71338606911949],"aabb_xy":[[0.6833186677449152,1.1995244950011363],[0.690725190403193,1.2069285316185718]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.16527545377185016,-2.3587257922870397,0.71338606911949],"aabb_xy":[[-0.21527545321204578,-2.4086937167713556],[-0.11527545433165454,-2.308757867802723]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.15962397389718241,0.9248571892078048,0.71338606911949],"aabb_xy":[[-0.18208874386858753,0.9023571883289443],[-0.1371592039257773,0.9473571900866653]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.16639447155866938,-2.2075441791257004,0.71338606911949],"aabb_xy":[[0.07639446788175118,-2.268976585702804],[0.2563944752355875,-2.146111772548595]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.560993263517625,-0.13322982270366213,0.71338606911949],"aabb_xy":[[-0.6109932645367604,-0.16969603844149006],[-0.5109932624984899,-0.09676360696583419]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.0552847882884443,-2.4635923774696264,0.71338606911949],"aabb_xy":[[0.051324304518709916,-2.4712602420551475],[0.059245272058178665,-2.4559245128841063]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.5195494357139065,-2.5579950951208144,0.71338606911949],"aabb_xy":[[0.5018738051253081,-2.5756753114002167],[0.5372250663025048,-2.540314878841411]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.17574760442721216,0.837942066861352,0.71338606911949],"aabb_xy":[[0.11074760627129307,0.8116458223114398],[0.2407476025831312,0.8642383114112642]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.37474490649231407,-2.2905803523831443,0.71338606911949],"aabb_xy":[[0.36214220735523767,-2.30317574860801],[0.3873476056293906,-2.2779849561582792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840419738672628,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6696.png","name":"6696"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6696.png","name":"6696"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3713.png","name":"3713"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/439.png","name":"439"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9278.png","name":"9278"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4127.png","name":"4127"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":769.3942351469526,"rotation_z_degrees":162.32533634405388,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005784530154327068,-0.01392844884467424,-0.016347853637021546]},{"name":"camera_2","offset_m":[-0.0003998068786933255,-0.015596725714147457,-0.005182844845542722]},{"name":"camera_3","offset_m":[0.01462060467945903,0.010918499832260089,0.01620330796140969]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011892321228250255,0.001541743555713457,-0.0017743217576036284],"end_effector_yaw_offset_degrees":-0.8438570102725123},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015621417279724117,0.0012906553144460867,0.0015859655561995148],"end_effector_yaw_offset_degrees":-0.7050855866137606},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000192802599157564,-0.00025462329956882444,-0.00030818377411797704],"end_effector_yaw_offset_degrees":0.2025234647843186}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0048921761969836774,-6.996741753503496e-05],"position_m":[0.3484078238030163,0.21733003258246497,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004169428851044654,9.726928130415063e-05],"position_m":[0.2715169428851045,-0.33820273071869583,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004296876902615349,-0.002876529981114835],"position_m":[0.2974031230973847,0.3744234700188852,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00022692178077775207,0.002007365875458793],"position_m":[0.35717307821922223,0.06670736587545878,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c73a3fabe739e147d4df43fa6014fe7506693b4c82798b8046227b2ce75b700","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6696/tex_ceiling_textures_4127/tex_floor_textures_9278/tex_table_textures_3713/tex_wall_textures_439","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1820467719497593819,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1820467719497593819,"visual_seed":1820467719497593819,"scene_id":"lab_003","finished_at":"2026-09-04T06:06:16"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T06:06:19","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[-0.5558364063845215,1.3909350407546115,0.71338606911949],"aabb_xy":[[-0.6208364073850219,1.3401486755999363],[-0.49083640538402085,1.4417214059092862]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.07450831985585582,-2.3535044303421286,0.71338606911949],"aabb_xy":[[-0.07794899609591299,-2.357365863316493],[-0.07106764361579865,-2.349642997367764]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.1875363764850123,1.2660438794593163,0.71338606911949],"aabb_xy":[[0.17506901837527666,1.2535785548259928],[0.20000373459474796,1.2785092040926398]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.23163251058612133,-1.0428209731126235,0.71338606911949],"aabb_xy":[[-0.26663250885624123,-1.0498951008076116],[-0.1966325123160014,-1.0357468454176353]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.3672469175797881,-1.03620965907983,0.71338606911949],"aabb_xy":[[0.3297469191563877,-1.0493738730476603],[0.4047469160031884,-1.0230454451119992]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.3938024689133234,0.9112387452144475,0.71338606911949],"aabb_xy":[[-0.4738024703434505,0.831721590201838],[-0.3138024674831961,0.990755900227057]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.14245405930637,-2.435494201174079,0.71338606911949],"aabb_xy":[[-0.14854868719448833,-2.4440635957257477],[-0.1363594314182517,-2.4269248066224103]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.32230258000823897,-0.11424890892593531,0.71338606911949],"aabb_xy":[[-0.37229759096769105,-0.16424890796152702],[-0.272307569048787,-0.0642489098903436]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.5896203518416447,-2.3998780262009807,0.71338606911949],"aabb_xy":[[-0.6796203541756638,-2.4773603807860933],[-0.4996203495076257,-2.322395671615868]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.1255316143457046,1.1186125412895698,0.71338606911949],"aabb_xy":[[0.12182835301656571,1.1149105229808518],[0.12923487567484343,1.1223145595982873]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.3140759003693743,-1.9965930667755822,0.71338606911949],"aabb_xy":[[0.28030034117868124,-2.010631561988747],[0.3478514595600672,-1.982554571562417]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.18796677323756172,1.2422113037576819,0.71338606911949],"aabb_xy":[[-0.22546677373491997,1.2382426202095633],[-0.15046677274020348,1.2461799873058004]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.13817441669553576,-2.046316689873067,0.71338606911949],"aabb_xy":[[0.07317441405774228,-2.097796288572514],[0.20317441933332925,-1.9948370911736202]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.6284074281276464,-1.7628098028397958,0.71338606911949],"aabb_xy":[[0.5909074273356509,-1.769177643797986],[0.6659074289196418,-1.7564419618816056]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.2944803143384773,-0.673391666762394,0.71338606911949],"aabb_xy":[[0.2711984721403459,-0.758391668059622],[0.3177621565366086,-0.5883916654651659]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.49553914679697886,-1.0605591186999639,0.71338606911949],"aabb_xy":[[-0.5595391439090845,-1.1095914884943745],[-0.43153914968487317,-1.0115267489055533]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[-0.5595286568339035,-0.8696905244833197,0.71338606911949],"aabb_xy":[[-0.5712968436285611,-0.9546905243885416],[-0.5477604700392461,-0.7846905245780985]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.48616721886570935,-2.1630697493342117,0.71338606911949],"aabb_xy":[[-0.536264682846783,-2.2270697498440235],[-0.4360697548846358,-2.0990697488244]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.6391503520094475,0.9328787224046424,0.71338606911949],"aabb_xy":[[0.5891503516488813,0.8828987351950394],[0.6891503523700134,0.9828587096142453]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.6855030775672375,-2.4792105433640383,0.71338606911949],"aabb_xy":[[0.667633969812782,-2.4930434513412494],[0.703372185321693,-2.4653776353868273]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.5301468437599623,-2.185119089378285,0.71338606911949],"aabb_xy":[[0.5049260069001225,-2.2103428402311707],[0.5553676806198018,-2.1598953385253976]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.3165440204431358,0.17296140123249737,0.71338606911949],"aabb_xy":[[-0.38054401902970825,0.12595443783298865],[-0.2525440218565633,0.21996836463200609]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.03180360342235078,1.2888211017302003,0.71338606911949],"aabb_xy":[[0.02358905830666679,1.2801445114325585],[0.040018148538034745,1.2974976920278412]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[-0.11286063741885466,-0.12162873979159405,0.71338606911949],"aabb_xy":[[-0.13036063767819134,-0.1357202819803667],[-0.09536063715951808,-0.10753719760282146]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.377739716154218,-1.2279863913407025,0.71338606911949],"aabb_xy":[[0.36683394006665526,-1.307986387739532],[0.3886454922417807,-1.1479863949418736]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[0.488446968244306,1.0349570757755298,0.71338606911949],"aabb_xy":[[0.4389665470303472,0.9709570778626779],[0.5379273894582648,1.0989570736883816]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.09969485296457226,-1.4652275023012842,0.71338606911949],"aabb_xy":[[-0.14497346784572152,-1.5292275016494679],[-0.054416238083422996,-1.4012275029531005]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.4486794838002434,-0.35845123404194723,0.71338606911949],"aabb_xy":[[-0.49865829231055925,-0.40845123404766603],[-0.3987006752899275,-0.3084512340362284]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.274323725673408,-1.452261561300221,0.71338606911949],"aabb_xy":[[0.2193237274716632,-1.4927835279266586],[0.32932372387515285,-1.4117395946737834]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[-0.20770301639154015,0.500933371677668,0.71338606911949],"aabb_xy":[[-0.2727030145474592,0.47463712712775585],[-0.1427030182356211,0.5272296162275802]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[-0.2544319409774331,-2.165595279809935,0.71338606911949],"aabb_xy":[[-0.2699877103876984,-2.1811457130543426],[-0.2388761715671679,-2.150044846565528]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_31","position":[0.0327459757014984,0.7950201497728502,0.71338606911949],"aabb_xy":[[-0.0031675287234912836,0.7591066415560954],[0.06865948012648808,0.8309336579896047]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_32","position":[0.5964482200574404,0.3451636082360796,0.71338606911949],"aabb_xy":[[0.5414527422367809,0.29016360680217257],[0.6514436978780996,0.40016360966998643]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_33","position":[0.13296816140993428,-2.4564637915519283,0.71338606911949],"aabb_xy":[[0.0729681615633675,-2.513282413744967],[0.19296816125650107,-2.3996451693588896]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902504650333187,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7922.png","name":"7922"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7922.png","name":"7922"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4011.png","name":"4011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/406.png","name":"406"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1863.png","name":"1863"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6172.png","name":"6172"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":589.0680266944405,"rotation_z_degrees":212.5323114289811,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008225214936415603,-0.014808535615974096,0.00024592803036181665]},{"name":"camera_2","offset_m":[-0.0024575260948830786,-0.010245345103821624,0.0033632027663169813]},{"name":"camera_3","offset_m":[0.016191678326009044,0.012044314139004541,0.005416481847862687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006245894775677274,-0.0009912693678981394,-0.0003346087951501082],"end_effector_yaw_offset_degrees":-0.34991774819431964},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001514148078729463,-0.001197727065237346,0.0002734427142045987],"end_effector_yaw_offset_degrees":-0.8596976581991524},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017213607015610633,0.0007548543175846262,-0.0004925582944106863],"end_effector_yaw_offset_degrees":-0.011334650278713942}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018642284077792482,0.003985054532915976],"position_m":[0.3514357715922208,0.221385054532916,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036451468081827422,0.0008487120391438771],"position_m":[0.27474514680818274,-0.3374512879608561,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033156642733568357,0.004541168524931504],"position_m":[0.30501566427335686,0.38184116852493155,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029652845863245847,0.0007667366399602112],"position_m":[0.35443471541367544,0.06546673663996021,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9dae54d548ed0023b21c9358464128eccfbd5acf288fbf122fc80e5b122a29a","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7922/tex_ceiling_textures_6172/tex_floor_textures_1863/tex_table_textures_4011/tex_wall_textures_406","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3315638405875107667,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3315638405875107667,"visual_seed":3315638405875107667,"scene_id":"lab_003","finished_at":"2026-09-04T06:09:15"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T06:09:19","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.21931427937771586,-1.5401442077208396,0.71338606911949],"aabb_xy":[[-0.2256263789140543,-1.5459111469740587],[-0.21300217984137743,-1.534377268467621]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.6184511036644382,-1.5248037739035716,0.71338606911949],"aabb_xy":[[-0.6362446105993547,-1.5426035194993692],[-0.6006575967295218,-1.507004028307774]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.17981915690988437,-1.167518499825761,0.71338606911949],"aabb_xy":[[-0.20109716505335662,-1.2325185021518341],[-0.15854114876641212,-1.102518497499688]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[-0.3749140642980692,0.8907567333170201,0.71338606911949],"aabb_xy":[[-0.43891406651847625,0.8463836491917318],[-0.3109140620776622,0.9351298174423084]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.06665552947866038,-0.8430754818583057,0.71338606911949],"aabb_xy":[[-0.07211347511568043,-0.9230754851659647],[-0.0611975838416403,-0.7630754785506465]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.07345318782916743,-0.6067458931235519,0.71338606911949],"aabb_xy":[[-0.1147577308929034,-0.670745892691669],[-0.03214864476543143,-0.5427458935554348]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.3641570112148663,-1.7700754907730096,0.71338606911949],"aabb_xy":[[-0.44415700837444155,-1.7816230917308264],[-0.284157014055291,-1.7585278898151924]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.45738353297508655,-0.9544555095356537,0.71338606911949],"aabb_xy":[[-0.5473835315695565,-0.9707060958490747],[-0.3673835343806166,-0.9382049232222327]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.12533451130541184,-0.020874663636492485,0.71338606911949],"aabb_xy":[[-0.13657956687602968,-0.03211646136058777],[-0.11408945573479401,-0.009632865912397204]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.6547906165669191,1.482157038551558,0.71338606911949],"aabb_xy":[[0.6372906831329356,1.4646570386313231],[0.6722905500009023,1.4996570384717922]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[0.5323790311244421,-1.2551662919246809,0.71338606911949],"aabb_xy":[[0.520446296762614,-1.2675484447325402],[0.5443117654862701,-1.2427841391168215]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.48455582170086137,-1.4572188982430752,0.71338606911949],"aabb_xy":[[-0.5485558237505934,-1.4973133813323833],[-0.42055581965112937,-1.4171244151537674]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.6843082223443773,-2.2691822966975144,0.71338606911949],"aabb_xy":[[0.6710772768096959,-2.2824097157195133],[0.6975391678790585,-2.2559548776755145]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[0.16850185341697965,1.258906883898169,0.71338606911949],"aabb_xy":[[0.12333053556881071,1.1949068867536308],[0.21367317126514868,1.3229068810427076]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.4936289340907989,-1.8303881832291815,0.71338606911949],"aabb_xy":[[0.4296289317479974,-1.875329034473314],[0.5576289364336005,-1.785447331985049]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.5814886562277837,1.5755777461002505,0.71338606911949],"aabb_xy":[[0.5439886559356089,1.5715362706996472],[0.6189886565199585,1.5796192215008542]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.19211176083921377,-2.1723158602051647,0.71338606911949],"aabb_xy":[[0.1696117610253114,-2.176790476575645],[0.21461176065311616,-2.167841243834684]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.3564899370615351,0.7676026911109481,0.71338606911949],"aabb_xy":[[0.26648993338461685,0.7061702845338437],[0.44648994073845316,0.8290350976880523]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[0.5912033097740776,-0.7315130090297346,0.71338606911949],"aabb_xy":[[0.5577631345780578,-0.7649566348606645],[0.624643484970097,-0.6980693831988043]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.27148199846862764,0.9579317862592953,0.71338606911949],"aabb_xy":[[0.20648200058697985,0.9068081225527546],[0.3364819963502754,1.0090554499658362]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.5454087899004222,-0.49704933986597855,0.71338606911949],"aabb_xy":[[-0.5528212454418107,-0.5029005502876064],[-0.5379963343590337,-0.4911981294443505]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.37857991460154367,-0.52844703833608,0.71338606911949],"aabb_xy":[[-0.41420907050150346,-0.5640797050929329],[-0.342950758701584,-0.49281437157922703]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.22483331353365887,-1.183165313507501,0.71338606911949],"aabb_xy":[[0.13483331703278711,-1.2290769559259591],[0.31483331003453063,-1.1372536710890426]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.44254665217792155,0.02889730794928136,0.71338606911949],"aabb_xy":[[0.4200329603544643,-0.04110269265172617],[0.4650603440013787,0.09889730855028889]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.32344611189374217,-1.4652576700722584,0.71338606911949],"aabb_xy":[[0.26832090626415134,-1.5252576715135453],[0.3785713175233329,-1.405257668630971]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.12828791352037605,0.47458634810993283,0.71338606911949],"aabb_xy":[[-0.21828791293874694,0.44121085126574305],[-0.03828791410200516,0.5079618449541226]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.37695190160444186,1.261026189683522,0.71338606911949],"aabb_xy":[[-0.4319518998061867,1.2205042230570842],[-0.321951903402697,1.3015481563099593]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[0.41729218355889586,1.6731478167858413,0.71338606911949],"aabb_xy":[[0.3572921829628796,1.6183353442406179],[0.477292184154912,1.7279602893310648]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.36528457341251497,-0.31631787803307354,0.71338606911949],"aabb_xy":[[-0.3770527602071726,-0.40131787793829515],[-0.3535163866178575,-0.23131787812785198]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.246423233759743,0.2350784148718419,0.71338606911949],"aabb_xy":[[-0.3264232307227821,0.1580027732280684],[-0.16642323679670382,0.31215405651561534]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[-0.6370387910516913,-1.6901317202265547,0.71338606911949],"aabb_xy":[[-0.6409526642471136,-1.6988807356331115],[-0.6331249178562687,-1.6813827048199979]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_31","position":[-0.29586796732894527,-0.6662136088565975,0.71338606911949],"aabb_xy":[[-0.3039956555222585,-0.6751272172673052],[-0.28774027913563205,-0.6573000004458899]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845159241867834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5793.png","name":"5793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5793.png","name":"5793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7796.png","name":"7796"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7307.png","name":"7307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1697.png","name":"1697"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9471.png","name":"9471"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":505.50704490327064,"rotation_z_degrees":216.240493122724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016979824825111386,-0.015152921452458763,-0.007114670930785057]},{"name":"camera_2","offset_m":[0.0008395539011816916,0.015172690137383833,-0.012619444180327441]},{"name":"camera_3","offset_m":[0.017741622276280785,0.008333144495521406,-0.011919801818531797]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005738273336322926,-0.0009691779003179097,-0.0002529137001662],"end_effector_yaw_offset_degrees":-0.36945510081220756},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014432331430706703,0.0013155259652535356,0.0018858839504094535],"end_effector_yaw_offset_degrees":0.22462125790890308},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006088199896022136,1.3752841766674281e-05,-0.00016013195391226666],"end_effector_yaw_offset_degrees":0.8534576016070801}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013076156669444682,0.0039701621570695485],"position_m":[0.3519923843330555,0.22137016215706956,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006631826358319548,-0.0001588792454504497],"position_m":[0.271763182635832,-0.33845887924545043,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017442142371447088,0.0017942369791550724],"position_m":[0.2999557857628553,0.3790942369791551,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004769129036852717,0.0008974850593247439],"position_m":[0.35263087096314727,0.06559748505932474,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98d9b06ee5d9a2688311bbd1205a7243500a22729e430bdbd6ccbf6423ccd10a","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5793/tex_ceiling_textures_9471/tex_floor_textures_1697/tex_table_textures_7796/tex_wall_textures_7307","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4602764249989750275,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4602764249989750275,"visual_seed":4602764249989750275,"scene_id":"lab_003","finished_at":"2026-09-04T06:12:14"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T06:12:18","dimensions":{"distractor":{"count":34,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.3276223585065901,-1.1115995880376637,0.71338606911949],"aabb_xy":[[-0.3501223590186307,-1.134091446403062],[-0.3051223579945495,-1.0891077296722653]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.5901896346559672,-1.0666772686294919,0.71338606911949],"aabb_xy":[[0.5639008103355264,-1.0929487022841429],[0.6164784589764077,-1.0404058349748404]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.3830609377658749,-0.8194376396923273,0.71338606911949],"aabb_xy":[[0.3712927509712174,-0.9044376395975491],[0.3948291245605325,-0.7344376397871059]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.13469535362551233,-2.1413256623656727,0.71338606911949],"aabb_xy":[[0.09819953299823359,-2.1778096047924302],[0.17119117425279107,-2.104841719938915]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.3223595384630992,-1.7032503477030612,0.71338606911949],"aabb_xy":[[-0.3288611749711039,-1.7130181697293712],[-0.31585790195509467,-1.6934825256767516]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.15777701804296296,-2.4472791368562463,0.71338606911949],"aabb_xy":[[-0.23777701505721097,-2.467413688529658],[-0.077777021028715,-2.427144585182835]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.1750437614840047,-0.7423366771910545,0.71338606911949],"aabb_xy":[[-0.19795947436905464,-0.7652409743274781],[-0.15212804859895482,-0.719432380054631]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.1323497673540316,-0.05564771207882968,0.71338606911949],"aabb_xy":[[-0.19234976720059838,-0.11246633427186836],[-0.0723497675074648,0.0011709101142090006]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.14542963615635895,0.9831756141353121,0.71338606911949],"aabb_xy":[[-0.2351167124644744,0.8931756138808615],[-0.0557425598482435,1.0731756143897626]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.5784771294083271,-0.9144197018885487,0.71338606911949],"aabb_xy":[[0.5285038354050665,-0.9644197024430959],[0.6284504234115874,-0.8644197013340013]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[0.022678327596720838,-2.037983145013885,0.71338606911949],"aabb_xy":[[0.005576249638352682,-2.0550899505451548],[0.03978040555508899,-2.0208763394826152]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.3997312425065783,0.5512996059396773,0.71338606911949],"aabb_xy":[[-0.412198600616314,0.5388342813063539],[-0.38726388439684273,0.5637649305730009]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[0.5979548393842795,-0.5467263563103781,0.71338606911949],"aabb_xy":[[0.5429548402076899,-0.6017160310853357],[0.6529548385608689,-0.4917366815354204]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.43194115076659445,1.0706161129755025,0.71338606911949],"aabb_xy":[[-0.479747318380363,1.0056161102684436],[-0.3841349831528257,1.1356161156825615]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.24399795982299832,1.6239422284422296,0.71338606911949],"aabb_xy":[[0.19400484771380647,1.5739422277680342],[0.2939910719321902,1.6739422291164254]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.0784940803989419,-0.830879081799607,0.71338606911949],"aabb_xy":[[-0.09628758733385835,-0.8486788273954047],[-0.06070057346402548,-0.8130793362038093]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.6952821052004257,-0.4030233693054335,0.71338606911949],"aabb_xy":[[0.6702821052679078,-0.4099060375263568],[0.7202821051329436,-0.39614070108451016]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.6457529390375869,-1.265416613376795,0.71338606911949],"aabb_xy":[[0.6314185139114235,-1.2774768289313339],[0.6600873641637504,-1.2533563978222562]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.06032165175230342,1.77733489468852,0.71338606911949],"aabb_xy":[[-0.08282165176245171,1.7632386750489166],[-0.03782165174215513,1.7914311143281232]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.03871553814847517,1.5107424946237509,0.71338606911949],"aabb_xy":[[-0.05477746560699281,1.4257424928111588],[-0.022653610689957523,1.5957424964363425]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[0.21165344068865743,1.7947727422082003,0.71338606911949],"aabb_xy":[[0.12165344127028652,1.7613972453640108],[0.3016534401070283,1.8281482390523902]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.31334517810427837,1.3666041824599389,0.71338606911949],"aabb_xy":[[-0.3833451802357078,1.343842216834243],[-0.24334517597284872,1.3893661480856343]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[0.3262958127989246,-0.42899307499133865,0.71338606911949],"aabb_xy":[[0.3223819396035021,-0.4377420903978954],[0.33020968599434714,-0.4202440595847819]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[-0.18651612655483019,0.43533996703504485,0.71338606911949],"aabb_xy":[[-0.21999529381587116,0.40186085366393787],[-0.15303695929378927,0.46881908040615183]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.17033056001991986,0.916467349580592,0.71338606911949],"aabb_xy":[[0.08033056328430963,0.8632838862632974],[0.2603305567555301,0.9696508128978865]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.17304187281443772,1.2837066116259641,0.71338606911949],"aabb_xy":[[0.15793957135341954,1.2686050899949017],[0.18814417427545574,1.2988081332570256]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[0.38094892690319937,0.575341324791462,0.71338606911949],"aabb_xy":[[0.3159489287472803,0.54904508024155],[0.44594892505911843,0.6016375693413744]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[-0.49359732024716774,1.4038333728437582,0.71338606911949],"aabb_xy":[[-0.5181435358699183,1.3735844762947211],[-0.46905110462441696,1.4340822693927953]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[-0.249764381540089,1.536757700867604,0.71338606911949],"aabb_xy":[[-0.25746757221416605,1.5290483301688658],[-0.24206119086601197,1.544467071566342]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[-0.34929670421854936,0.8755199698470166,0.71338606911949],"aabb_xy":[[-0.3867967050105448,0.8691521288888265],[-0.3117967034265539,0.8818878108052067]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[-0.5125603654221155,-1.3937933877304196,0.71338606911949],"aabb_xy":[[-0.5701908343093861,-1.45379338665713],[-0.4549298965348444,-1.3337933888037088]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[0.4639991968252688,-2.017358313473381,0.71338606911949],"aabb_xy":[[0.399999196564798,-2.062367112826309],[0.5279991970857396,-1.972349514120453]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_32","position":[-0.1845260502738516,1.7500411679758154,0.71338606911949],"aabb_xy":[[-0.19428203978302547,1.7402786339165808],[-0.1747700607646777,1.7598037020350497]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_33","position":[0.14090963948826285,-0.9606535509653886,0.71338606911949],"aabb_xy":[[0.1364790101334227,-0.9661019227000712],[0.14534026884310305,-0.955205179230706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859875265881621,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9081.png","name":"9081"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9081.png","name":"9081"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8783.png","name":"8783"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1720.png","name":"1720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8238.png","name":"8238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5923.png","name":"5923"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":626.58767856601,"rotation_z_degrees":220.57933964806114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014029557817084929,0.005125052509001606,0.019184306602430572]},{"name":"camera_2","offset_m":[-0.004006652498336757,-0.017102246682702257,0.015507474500651115]},{"name":"camera_3","offset_m":[0.005686194754064573,-0.004407325512039387,-0.0010168881687041068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018428157731590652,3.528427359215892e-05,-0.0001066676456327781],"end_effector_yaw_offset_degrees":0.42998420828536066},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016153568053583567,-0.000772529787070695,-0.0018048221266446687],"end_effector_yaw_offset_degrees":-0.5513968306446264},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010685560369610879,0.0006827605491445282,0.0009053182263863142],"end_effector_yaw_offset_degrees":0.4457173092286504}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003916428783335376,-0.0013442908305678837],"position_m":[0.34938357121666463,0.21605570916943212,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014561878556036177,-0.0020081063986624116],"position_m":[0.27255618785560365,-0.3403081063986624,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017485389678958399,-0.004593644331930477],"position_m":[0.30344853896789586,0.37270635566806953,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011192659707092434,-0.0007866390571097358],"position_m":[0.3562807340292907,0.06391336094289025,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3cbe746b5cf9dd1e53f72bf5a154cfbc5e6e7c48e2665ed58c5470943bb148d","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9081/tex_ceiling_textures_5923/tex_floor_textures_8238/tex_table_textures_8783/tex_wall_textures_1720","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4310896424275457630,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4310896424275457630,"visual_seed":4310896424275457630,"scene_id":"lab_003","finished_at":"2026-09-04T06:15:13"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T06:15:19","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.5354028876646265,-1.1673387457457818,0.71338606911949],"aabb_xy":[[-0.5729028881619848,-1.1713074292938999],[-0.49790288716726827,-1.1633700621976633]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.5187936638249644,-0.9674305092735302,0.71338606911949],"aabb_xy":[[0.4587936633171114,-1.0242772429594513],[0.5787936643328172,-0.9105837755876088]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.44043959332965177,-2.518738719595811,0.71338606911949],"aabb_xy":[[-0.47793959314668527,-2.5233769309069527],[-0.40293959351261815,-2.514100508284669]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.22703857221395712,-0.697250834073456,0.71338606911949],"aabb_xy":[[-0.2640726816420169,-0.7316280414071653],[-0.19000446278589744,-0.6628736267397465]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.2261213452582792,-2.3651004882684266,0.71338606911949],"aabb_xy":[[-0.2674258883220152,-2.4291004878365436],[-0.1848168021945432,-2.3011004887003095]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.4689659574354803,0.6030201644723641,0.71338606911949],"aabb_xy":[[0.40496595884890785,0.5560132010728553],[0.5329659560220528,0.6500271278718728]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.15667450240379055,-0.9542432895415887,0.71338606911949],"aabb_xy":[[0.15017286589578593,-0.9640111115678984],[0.16317613891179517,-0.9444754675152789]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.29168199162427294,0.7484946554412102,0.71338606911949],"aabb_xy":[[-0.3766819903163475,0.7165087920463312],[-0.20668199293219824,0.7804805188360889]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[0.2577743368331108,1.5929641509314751,0.71338606911949],"aabb_xy":[[0.19277433867719174,1.566667906381563],[0.32277433498902985,1.6192603954813873]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.24761231279130985,-2.5507113515997175,0.71338606911949],"aabb_xy":[[-0.2583852867126776,-2.5857113498187565],[-0.23683933886994205,-2.5157113533806785]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.31341210589611834,-1.6425504008681218,0.71338606911949],"aabb_xy":[[0.2908984140726611,-1.7125504014691293],[0.3359257977195755,-1.5725504002671142]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.4149440687613162,-2.439962407707447,0.71338606911949],"aabb_xy":[[0.36994406729508733,-2.4849622645689275],[0.4599440702275451,-2.394962550845966]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[0.004520596595796289,-0.9068151945739804,0.71338606911949],"aabb_xy":[[-0.053109872291474555,-0.9668151935006908],[0.06215106548306713,-0.8468151956472696]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.49003641147234156,-0.28049973074069,0.71338606911949],"aabb_xy":[[-0.5008768896988565,-0.2976860120313388],[-0.47919593324582666,-0.2633134494500412]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[0.15821767673155862,-2.2925532924002705,0.71338606911949],"aabb_xy":[[0.07821767530143142,-2.37207044741288],[0.23821767816168582,-2.213036137387661]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.2290652225655626,0.10957654456529342,0.71338606911949],"aabb_xy":[[-0.24422809554249972,0.09441108727017468],[-0.21390234958862556,0.12474200186041219]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[-0.43939414101566326,1.70654128513559,0.71338606911949],"aabb_xy":[[-0.45096312176259995,1.6815412850186584],[-0.4278251602687268,1.7315412852525218]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.5997393069654773,0.8096374571664748,0.71338606911949],"aabb_xy":[[0.519739309805902,0.7980898562086577],[0.6797393041250526,0.8211850581242918]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.6459699969415531,-1.4011609288199547,0.71338606911949],"aabb_xy":[[0.6109699977487347,-1.412127974817617],[0.6809699961343713,-1.390193882822292]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.07235555730373822,-2.4022018168893586,0.71338606911949],"aabb_xy":[[-0.10735555719975709,-2.410576052401299],[-0.03735555740771935,-2.393827581377419]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.20771809894277526,0.5855065972673792,0.71338606911949],"aabb_xy":[[-0.2717180981125452,0.5387399101484167],[-0.14371809977300531,0.6322732843863417]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6816967288836037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9319.png","name":"9319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9319.png","name":"9319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/971.png","name":"971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8270.png","name":"8270"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3843.png","name":"3843"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6623.png","name":"6623"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":520.9525179571805,"rotation_z_degrees":17.97765634646688,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012366719718558995,0.00396901122741208,0.014951494484405744]},{"name":"camera_2","offset_m":[0.009746808654795044,-0.00380799487984727,-0.00036592637207976883]},{"name":"camera_3","offset_m":[0.018731698878133075,-0.00829963681599633,-0.013943562546986223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010525827524734913,-7.675375794480733e-05,0.0006943197327802051],"end_effector_yaw_offset_degrees":-0.2223062963253324},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006856613127883221,0.001323663425175673,-0.0018157401025427596],"end_effector_yaw_offset_degrees":-0.06014008604528098},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.2542680277369415e-05,0.0003716768943752024,0.0002503371204322642],"end_effector_yaw_offset_degrees":0.284161272212724}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009564989715012736,0.0017504579534791754],"position_m":[0.3523435010284987,0.21915045795347918,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033284643304381393,-0.0017263778439826826],"position_m":[0.26777153566956186,-0.34002637784398265,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008390681360438534,-0.004872316099092511],"position_m":[0.3008609318639562,0.3724276839009075,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003653852527355521,0.00030955341279075097],"position_m":[0.3537461474726445,0.06500955341279074,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c70959b629bf26cbc5fbb22fc076cc1ad4bc4e759e1707050b0d959136f01d2","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9319/tex_ceiling_textures_6623/tex_floor_textures_3843/tex_table_textures_971/tex_wall_textures_8270","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2282511723471993456,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2282511723471993456,"visual_seed":2282511723471993456,"scene_id":"lab_003","finished_at":"2026-09-04T06:18:32"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T06:18:35","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[0.40277646269989686,-0.8627734973340628,0.71338606911949],"aabb_xy":[[0.3716295438563137,-0.9327734960208699],[0.4339233815434799,-0.7927734986472555]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.5904064531711124,0.42498897611412767,0.71338606911949],"aabb_xy":[[0.5363908568892124,0.36098897322187046],[0.6444220494530124,0.48898897900638477]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.31761203725782755,-1.3445292656644883,0.71338606911949],"aabb_xy":[[-0.3280235959383112,-1.3498749990003864],[-0.3072004785773438,-1.3391835323285897]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[-0.32595358103018124,0.7953095967469777,0.71338606911949],"aabb_xy":[[-0.34358641662370876,0.7776866507313546],[-0.3083207454366536,0.8129325427626005]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.08395637518875043,-1.6971427504538052,0.71338606911949],"aabb_xy":[[-0.10645637570079101,-1.7196346088192032],[-0.06145637467670982,-1.6746508920884065]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.6262405800079993,-0.819741631733997,0.71338606911949],"aabb_xy":[[0.6189793324375918,-0.8325286419975064],[0.6335018275784068,-0.8069546214704875]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.4010339940831677,-0.5530960845427266,0.71338606911949],"aabb_xy":[[-0.40546462343800793,-0.5585444562774092],[-0.3966033647283276,-0.547647712808044]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.5384362650866561,-2.4134097221547974,0.71338606911949],"aabb_xy":[[0.510591228306049,-2.444194220893109],[0.5662813018672632,-2.3826252234164857]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.18755840346210495,-1.5678502675240007,0.71338606911949],"aabb_xy":[[0.13746093948103136,-1.6318502680338125],[0.2376558674431786,-1.503850267014189]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.518298958307124,-1.4159811006089928,0.71338606911949],"aabb_xy":[[-0.5682989596680111,-1.4659590051844085],[-0.46829895694623674,-1.3660031960335772]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.4768155807965806,-0.12287733150985058,0.71338606911949],"aabb_xy":[[0.4393155822209598,-0.13561362717340852],[0.5143155793722014,-0.11014103584629266]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.5220025224266304,1.7660894170935824,0.71338606911949],"aabb_xy":[[-0.5327754963479981,1.7310894188745434],[-0.5112295485052626,1.8010894153126213]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.6337852262771495,-0.4432794249912395,0.71338606911949],"aabb_xy":[[-0.6687852245472693,-0.4503535526862276],[-0.5987852280070295,-0.4362052972962513]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.3176855337472078,0.6700331566888975,0.71338606911949],"aabb_xy":[[-0.4076855302480796,0.6241215142704392],[-0.22768553724633608,0.7159447991073556]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.528758557122722,1.6680549956656505,0.71338606911949],"aabb_xy":[[0.48347994224157276,1.6040549963174668],[0.5740371720038713,1.7320549950138342]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[-0.23394970853657365,0.36246782278793654,0.71338606911949],"aabb_xy":[[-0.27144970932856904,0.3560999818297464],[-0.19644970774457818,0.3688356637461266]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.11349132076476642,-1.2561105985593328,0.71338606911949],"aabb_xy":[[-0.12324731027394031,-1.2658731326185675],[-0.10373533125559253,-1.2463480645000986]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.42875950964998255,-1.6551231593581233,0.71338606911949],"aabb_xy":[[0.3941684267959373,-1.720123159643154],[0.4633505925040277,-1.590123159073092]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.2177101624038933,-1.7923037869078775,0.71338606911949],"aabb_xy":[[-0.24017493237529838,-1.814803787786738],[-0.19524539243248815,-1.769803786029017]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.10079550783669411,1.561534978258774,0.71338606911949],"aabb_xy":[[0.07628188373968825,1.5372703849567377],[0.12530913193369997,1.5857995715608106]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[0.4332470684864784,-1.5070457417632592,0.71338606911949],"aabb_xy":[[0.39591579196123583,-1.5416987965581115],[0.470578345011721,-1.472392686968407]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.4465600264669458,-0.44517353883778954,0.71338606911949],"aabb_xy":[[0.44110208082992575,-0.5251735421454486],[0.4520179721039659,-0.3651735355301305]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.01958531889437254,-2.2591888561448323,0.71338606911949],"aabb_xy":[[-0.00030572098596770575,-2.2718446674295296],[0.03947635877471279,-2.246533044860136]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[-0.6174109447562752,-2.131667467266385,0.71338606911949],"aabb_xy":[[-0.6814109420586215,-2.176033894234241],[-0.5534109474539287,-2.0873010402985277]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.2520894584115303,-1.8834555720325252,0.71338606911949],"aabb_xy":[[0.1820894550199683,-1.918771345735956],[0.3220894618030922,-1.8481397983290944]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[0.5058193313815926,-1.0030828669681537,0.71338606911949],"aabb_xy":[[0.5009200390750291,-1.0307597862707223],[0.5107186236881561,-0.9754059476655847]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[0.06610746314845706,1.7059601912036162,0.71338606911949],"aabb_xy":[[0.01622476627076085,1.655960191957342],[0.11599016002615327,1.7559601904498914]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.07443389590757088,-0.677300312328774,0.71338606911949],"aabb_xy":[[-0.0832151230548071,-0.6860800596173041],[-0.06565266876033465,-0.6685205650402438]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[-0.12772221103870418,-0.5310199745332378,0.71338606911949],"aabb_xy":[[-0.16335136693866392,-0.5666526412900907],[-0.09209305513874444,-0.49538730777638484]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[-0.18631119417170627,0.8764579936210435,0.71338606911949],"aabb_xy":[[-0.2463111940182731,0.8196393714280047],[-0.12631119432513951,0.9332766158140821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844274022642859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6799.png","name":"6799"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6799.png","name":"6799"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7454.png","name":"7454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3613.png","name":"3613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/617.png","name":"617"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/839.png","name":"839"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":736.7311717218118,"rotation_z_degrees":134.97250132068055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008720075473831827,0.011267894803042449,-0.01094866201237517]},{"name":"camera_2","offset_m":[-0.003684601562873334,0.019416810763855066,0.011888935584142054]},{"name":"camera_3","offset_m":[-0.01544321613948565,-0.010172830698728678,-0.002841761546894611]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008094923581236867,0.001032946606691577,-0.0014928597906902707],"end_effector_yaw_offset_degrees":-0.7861498620677891},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008298119698973126,-0.00047018864441139736,-0.0003333855153565973],"end_effector_yaw_offset_degrees":0.8050824870978299},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006894104182800019,-0.0019227788875937476,0.0010160114667980475],"end_effector_yaw_offset_degrees":0.7107846394963147}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008301933418578215,-0.0009425842367776745],"position_m":[0.3524698066581422,0.21645741576322233,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006753713887025954,-0.00022791404803902595],"position_m":[0.2717753713887026,-0.338527914048039,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025632656046789826,0.0012876656643987126],"position_m":[0.29913673439532107,0.3785876656643987,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008992739369649587,5.8417681906718436e-05],"position_m":[0.356500726063035,0.06475841768190671,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c318e09b75428857463e04883a42fca52fd6d4680506244260c12ca2acf8494b","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6799/tex_ceiling_textures_839/tex_floor_textures_617/tex_table_textures_7454/tex_wall_textures_3613","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1242263510834523368,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1242263510834523368,"visual_seed":1242263510834523368,"scene_id":"lab_003","finished_at":"2026-09-04T06:21:37"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T06:21:42","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.40636186052916196,-2.1160020199994967,0.71338606911949],"aabb_xy":[[-0.41959280606384314,-2.129229439021495],[-0.39313091499448055,-2.1027746009774964]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.4350451876697188,-0.32106642174465083,0.71338606911949],"aabb_xy":[[0.40875636334927806,-0.34733785539930195],[0.4613340119901594,-0.2947949880899995]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.570940614910862,-1.1601871882464703,0.71338606911949],"aabb_xy":[[0.5591724281162046,-1.2451871881516918],[0.5827088017055196,-1.0751871883412487]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.034563760453475534,-1.581837918484344,0.71338606911949],"aabb_xy":[[-0.07206376027050909,-1.586476129795486],[0.002936239363558031,-1.5771997071732022]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.6674401557201974,-0.24169053199298673,0.71338606911949],"aabb_xy":[[0.6498073201266699,-0.2593134780086097],[0.685072991313725,-0.22406758597736376]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.09387734529572533,-2.016160324761515,0.71338606911949],"aabb_xy":[[0.04388251236778372,-2.0661603236567587],[0.14387217822366694,-1.9661603258662717]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.19490616770000102,-1.0420286419615246,0.71338606911949],"aabb_xy":[[0.15990616772350522,-1.0514932580091412],[0.22990616767649688,-1.032564025913908]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.013523077632702774,0.7039659486764389,0.71338606911949],"aabb_xy":[[-0.023976922715524984,0.6921745530953552],[0.05102307798093053,0.7157573442575224]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.06068147688595682,1.5886215896043496,0.71338606911949],"aabb_xy":[[-0.1016994202723277,1.5386215889733923],[-0.01966353349958594,1.638621590235307]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.5644893121247258,-1.007843641195789,0.71338606911949],"aabb_xy":[[-0.628489312398704,-1.057909741393077],[-0.5004893118507475,-0.957777540998501]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.3312430496221901,0.9224232766260165,0.71338606911949],"aabb_xy":[[0.30602221276235037,0.8971995257731297],[0.3564638864820297,0.9476470274789032]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.05748580091751232,-1.931237900109983,0.71338606911949],"aabb_xy":[[-0.07008850005458878,-1.9438332963348484],[-0.04488310178043586,-1.9186425038851174]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.22837427744297084,0.9999570297653615,0.71338606911949],"aabb_xy":[[-0.29237427383854386,0.9359937413466278],[-0.16437428104739774,1.063920318184095]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.17002883004714953,1.7028307477711624,0.71338606911949],"aabb_xy":[[-0.240028831855895,1.6814769790069748],[-0.10002882823840412,1.7241845165353495]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.28335619587721994,0.7361422828780917,0.71338606911949],"aabb_xy":[[-0.33335619452314114,0.6862227392186293],[-0.23335619723129875,0.7860618265375541]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.2824749071414122,1.0596677628931634,0.71338606911949],"aabb_xy":[[0.27369367999417604,1.0508880156046336],[0.2912561342886485,1.0684475101816941]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.4938892836139377,1.5032345195902335,0.71338606911949],"aabb_xy":[[-0.5188892827795708,1.4962822738848771],[-0.4688892844483045,1.5101867652955903]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.19288151419627741,0.5274600327955428,0.71338606911949],"aabb_xy":[[-0.2389666054510089,0.4634600355429877],[-0.14679642294154593,0.5914600300480979]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.5981120438824816,1.2532899628767473,0.71338606911949],"aabb_xy":[[-0.618003083762822,1.2406341515920505],[-0.5782210040021415,1.2659457741614442]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.5874525425190809,0.447916045996688,0.71338606911949],"aabb_xy":[[-0.5923518348256444,0.42023912669411917],[-0.5825532502125174,0.4755929652992567]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.3815483713037787,-0.8075789247292522,0.71338606911949],"aabb_xy":[[-0.44154837189979484,-0.8623913972744756],[-0.3215483707077625,-0.7527664521840286]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.2804609906232943,1.3569499206804059,0.71338606911949],"aabb_xy":[[0.2304609889617996,1.3069514784247032],[0.3304609922847891,1.4069483629361086]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.21970286571988917,-1.8430331388530985,0.71338606911949],"aabb_xy":[[0.2126614147691416,-1.850059890590893],[0.2267443166706368,-1.836006387115304]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.6109146032435774,-0.04836662692131988,0.71338606911949],"aabb_xy":[[-0.6477092363684835,-0.08527250201790215],[-0.574119970118671,-0.011460751824737596]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.4043713249523023,0.3017626894992609,0.71338606911949],"aabb_xy":[[-0.45150070395413794,0.23776268845485887],[-0.3572419459504666,0.3657626905436628]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.6976146999182993,-2.100490517779898,0.71338606911949],"aabb_xy":[[0.6726146999857815,-2.1073731860008205],[0.7226146998508173,-2.0936078495589743]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.49193829017560464,1.253663885580397,0.71338606911949],"aabb_xy":[[0.4744382899305552,1.23616409774083],[0.5094382904206539,1.2711636734199636]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[-0.4490526967895312,-0.09502316668610966,0.71338606911949],"aabb_xy":[[-0.5130526984675285,-0.14354055816542388],[-0.3850526951115338,-0.04650577520679543]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[0.39529539816448356,-1.6610518991765169,0.71338606911949],"aabb_xy":[[0.3727817063410263,-1.7310518997775244],[0.4178090899879407,-1.5910518985755093]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[-0.22393126509493777,1.4180457381703477,0.71338606911949],"aabb_xy":[[-0.24213708875618542,1.407020337588356],[-0.20572544143369006,1.4290711387523394]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_30","position":[-0.5969131979500312,0.796632005746579,0.71338606911949],"aabb_xy":[[-0.6328267023750208,0.7607184975298243],[-0.5609996935250415,0.8325455139633336]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887113308301113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7258.png","name":"7258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7258.png","name":"7258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/947.png","name":"947"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6842.png","name":"6842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8304.png","name":"8304"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":719.5207896082031,"rotation_z_degrees":319.04146657345916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01832733515993278,0.008654667839464579,-0.01523505455549814]},{"name":"camera_2","offset_m":[0.015878465586754275,0.004147562221848863,-0.0064532132330527275]},{"name":"camera_3","offset_m":[-0.019240067663014053,-0.013678012463858545,-0.0007801116207115308]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024603597657127407,-0.001713060102262063,-0.0006611438663021065],"end_effector_yaw_offset_degrees":-0.28808362537232046},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001315753714333622,0.00024878986506379156,9.127982164451338e-05],"end_effector_yaw_offset_degrees":-0.6854559602740802},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003481505223471193,-0.0010679123514734461,-0.0011361049940213724],"end_effector_yaw_offset_degrees":-0.06087168279557709}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00138106532620365,-0.003882373070517594],"position_m":[0.35191893467379637,0.21351762692948242,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033984899894592873,0.0035088864532233496],"position_m":[0.2744984899894593,-0.33479111354677665,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003264587359411265,0.001829276314825096],"position_m":[0.3049645873594113,0.3791292763148251,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024307831127165893,-0.0006956377551363734],"position_m":[0.3549692168872834,0.06400436224486362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c6b13451297e4fa097b66ca009642f333d6d836a06febe9bae7f56c1658888d","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7258/tex_ceiling_textures_8304/tex_floor_textures_6842/tex_table_textures_5555/tex_wall_textures_947","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3122241884120309753,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3122241884120309753,"visual_seed":3122241884120309753,"scene_id":"lab_003","finished_at":"2026-09-04T06:24:52"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T06:24:55","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.35371654624650084,-1.528977261846376,0.71338606911949],"aabb_xy":[[0.3312165464325984,-1.533451878216857],[0.37621654606040317,-1.5245026454758954]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.03167530754172698,1.447314534720531,0.71338606911949],"aabb_xy":[[-0.01780511367223181,1.3833145368076794],[0.08115572875568577,1.511314532633383]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.08723142063867428,-1.22123103072357,0.71338606911949],"aabb_xy":[[-0.0942717305722113,-1.3012310301232415],[-0.0801911107051373,-1.1412310313238987]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.5460254614174554,-1.7998715304928754,0.71338606911949],"aabb_xy":[[-0.5586522487046518,-1.809417604194448],[-0.5333986741302591,-1.7903254567913023]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.07628342292463719,-1.0901192626973226,0.71338606911949],"aabb_xy":[[0.07031688398390139,-1.0960804073566868],[0.08224996186537296,-1.0841581180379585]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.07469799560150381,-1.5600661807950817,0.71338606911949],"aabb_xy":[[-0.1386979976512358,-1.6001606638843897],[-0.010697993551771812,-1.5199716977057738]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.4882848437660548,-1.560002613524964,0.71338606911949],"aabb_xy":[[-0.5257848452816865,-1.571229386541109],[-0.45078484225042303,-1.548775840508819]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.4844532888021065,0.8543939940341887,0.71338606911949],"aabb_xy":[[0.4746972992929325,0.8446314599749541],[0.49420927831128025,0.864156528093423]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.5399776170673436,-0.23931392736462787,0.71338606911949],"aabb_xy":[[0.49480629921917474,-0.30331392450916633],[0.5851489349155127,-0.17531393022008948]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.03457829205850116,-0.9607807217014219,0.71338606911949],"aabb_xy":[[-0.0422025601486794,-0.9684139452379658],[-0.026954023968322915,-0.9531474981648783]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.5024695317471937,0.41960077850762767,0.71338606911949],"aabb_xy":[[-0.5664652291422902,0.35560078020691893],[-0.4384738343520971,0.4836007768083363]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.3279781216008322,-1.670871491210601,0.71338606911949],"aabb_xy":[[0.2779951714133528,-1.7208714908531615],[0.37796107178831145,-1.6208714915680407]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.07489938934003826,1.208238159336826,0.71338606911949],"aabb_xy":[[0.049899390068075984,1.1918927957406635],[0.09989938861200054,1.2245835229329882]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.40061616654119003,1.6783936847698153,0.71338606911949],"aabb_xy":[[0.39262267674590823,1.6703955528293402],[0.4086096563364723,1.6863918167102914]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.40133236540575856,1.3645769977084963,0.71338606911949],"aabb_xy":[[0.3373323647022893,1.3185586152355753],[0.465332366109228,1.4105953801814173]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.5974792446163446,-0.5488930657321811,0.71338606911949],"aabb_xy":[[0.5631629674417268,-0.5988930657053587],[0.6317955217909627,-0.4988930657590033]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.1430217873236087,1.7257149960230103,0.71338606911949],"aabb_xy":[[0.08804806528727585,1.6707149964587773],[0.19799550935994162,1.7807149955872437]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.5642348673333842,-1.3937102419681753,0.71338606911949],"aabb_xy":[[-0.5813369452917523,-1.410817047499445],[-0.547132789375016,-1.3766034364369055]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.2323575921073241,0.800363836253839,0.71338606911949],"aabb_xy":[[0.19502631558208144,0.7657107814589869],[0.2696888686325667,0.8350168910486914]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.13591430809902227,0.49431895903335654,0.71338606911949],"aabb_xy":[[-0.20591430450898401,0.47388102338167465],[-0.06591431168906044,0.514756894685038]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.6387322148004453,0.5122833880014248,0.71338606911949],"aabb_xy":[[0.601232214856679,0.5039902979665882],[0.6762322147442118,0.5205764780362614]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.31374661801988024,-1.0852287830211107,0.71338606911949],"aabb_xy":[[0.3076519901317619,-1.0937981775727796],[0.31984124590799856,-1.0766593884694422]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.3791890633550482,1.6223959991108399,0.71338606911949],"aabb_xy":[[-0.42916787186536404,1.5723959991051208],[-0.32921025484473226,1.6723959991165585]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.6255146320573289,-0.7643262931896408,0.71338606911949],"aabb_xy":[[-0.6905146330578295,-0.8151126583443158],[-0.5605146310568284,-0.7135399280349659]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6819164199374399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5249.png","name":"5249"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5249.png","name":"5249"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6480.png","name":"6480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4255.png","name":"4255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3779.png","name":"3779"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":624.6508550911519,"rotation_z_degrees":103.18274221732295,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012266048740567387,0.012224334011248273,0.016900140314169736]},{"name":"camera_2","offset_m":[-0.019172040142768198,0.005860818221275696,0.016666218534290195]},{"name":"camera_3","offset_m":[0.007896892097910179,-0.009056651903228827,0.008111558897248905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001021880000257085,0.00038159406846864424,-0.0012547828815655602],"end_effector_yaw_offset_degrees":-0.2810558906067042},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001452175874789035,0.0017583759756057624,0.001241779799654705],"end_effector_yaw_offset_degrees":-0.5233663050724189},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003140539118291915,-2.2860436518900434e-06,-0.0015145936729214196],"end_effector_yaw_offset_degrees":0.6934022140298384}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029752913867082545,0.0014654584033308195],"position_m":[0.35627529138670827,0.21886545840333083,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0040635142419159125,-0.003438982373453511],"position_m":[0.2670364857580841,-0.3417389823734535,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004643980099536392,-0.003931614445022871],"position_m":[0.29705601990046365,0.37336838555497714,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004912884886504332,-0.0002460548384568941],"position_m":[0.3623128848865043,0.0644539451615431,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"029125889afad1c48c43cb5415d6f20728b0ffddd43e2de5c985344f0adf79f0","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5249/tex_ceiling_textures_9558/tex_floor_textures_3779/tex_table_textures_6480/tex_wall_textures_4255","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2483851548747115344,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2483851548747115344,"visual_seed":2483851548747115344,"scene_id":"lab_003","finished_at":"2026-09-04T06:27:57"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T06:28:01","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.1613105593712948,1.3461962669791387,0.71338606911949],"aabb_xy":[[0.1533170695760128,1.3381981350386634],[0.16930404916657685,1.3541943989196146]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.45060463136095974,-0.30778862597473866,0.71338606911949],"aabb_xy":[[0.44003715170286073,-0.3183336560877473],[0.46117211101905875,-0.29724359586173016]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.6559616773453203,-0.2643706736452711,0.71338606911949],"aabb_xy":[[0.6059616777689857,-0.31435125259737706],[0.7059616769216551,-0.21439009469316517]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.26715083367635256,-0.5866718642393396,0.71338606911949],"aabb_xy":[[-0.3021508336528484,-0.5961364802869563],[-0.23215083369985673,-0.5772072481917231]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.6295560324586456,-1.972123621435324,0.71338606911949],"aabb_xy":[[0.6202090248763503,-1.986427243652968],[0.6389030400409408,-1.95781999921768]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.19377738373039866,0.246357500065423,0.71338606911949],"aabb_xy":[[-0.2537773853733205,0.1943573507734788],[-0.1337773820874768,0.2983576493573672]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.06863361447569827,0.40299312544080745,0.71338606911949],"aabb_xy":[[-0.11845039394053303,0.3529931269565041],[-0.01881683501086351,0.4529931239251108]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.2877706376650624,-1.2513542470142949,0.71338606911949],"aabb_xy":[[0.23779734366180189,-1.301354247568842],[0.3377439316683228,-1.2013542464597473]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.5440286349155206,-0.8487910346231642,0.71338606911949],"aabb_xy":[[-0.5980442311974205,-0.9127910375154212],[-0.49001303863362045,-0.7847910317309069]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.4443072766988364,-2.1714208050103685,0.71338606911949],"aabb_xy":[[-0.4668036981327005,-2.193920804817116],[-0.4218108552649723,-2.148920805203621]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.41001915266140004,-1.9609850635052006,0.71338606911949],"aabb_xy":[[-0.41705946259493715,-2.0409850629048725],[-0.40297884272786316,-1.8809850641055295]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.2882417443174039,1.4762576556178986,0.71338606911949],"aabb_xy":[[-0.36824174758141703,1.4626976233089852],[-0.20824174105339077,1.489817687926812]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.5961877969060276,0.7845011781772384,0.71338606911949],"aabb_xy":[[-0.6347334897312288,0.7459554071210498],[-0.5576421040808267,0.823046949233427]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[-0.46950502913896475,-0.6762752449016438,0.71338606911949],"aabb_xy":[[-0.5335050277255372,-0.7232822083011524],[-0.4055050305523923,-0.629268281502135]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.10923392421005351,-0.5400394597863518,0.71338606911949],"aabb_xy":[[-0.13114260634940456,-0.5619401266064425],[-0.08732524207070246,-0.5181387929662611]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.1307415161094515,-1.0192337379107017,0.71338606911949],"aabb_xy":[[-0.200741517711731,-1.0326665311123593],[-0.06074151450717202,-1.0058009447090441]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.02263433374240653,1.528726496639186,0.71338606911949],"aabb_xy":[[-0.007357328991463796,1.4987264973023853],[0.05262599647627686,1.5587264959759863]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.7094158244871651,-0.0418422442489681,0.71338606911949],"aabb_xy":[[0.7013895538565391,-0.05059373922632071],[0.7174420951177911,-0.03309074927161548]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.10884790786596155,1.732255781904834,0.71338606911949],"aabb_xy":[[0.02884790679284123,1.7224777355674497],[0.18884790893908188,1.7420338282422185]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.12443475207401122,1.2977403571251567,0.71338606911949],"aabb_xy":[[-0.18843475245154484,1.2479950902743442],[-0.06043475169647759,1.3474856239759687]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.4369426929392519,1.2869630966584729,0.71338606911949],"aabb_xy":[[0.4218403914782337,1.2718615750274105],[0.4520449944002699,1.3020646182895343]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.3110409972439452,-1.0804372087995204,0.71338606911949],"aabb_xy":[[0.2860409979719829,-1.0967825723956828],[0.33604099651590746,-1.064091845203358]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.46600840556550516,-1.7113342520827848,0.71338606911949],"aabb_xy":[[0.3760084088298949,-1.7645177154000788],[0.5560084023011154,-1.6581507887654898]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.16976179936653868,-2.117652492246777,0.71338606911949],"aabb_xy":[[-0.2547617980586133,-2.149638355641656],[-0.08476180067446401,-2.0856666288518984]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.205493032701222,-2.274010060368127,0.71338606911949],"aabb_xy":[[0.18794633778510308,-2.3115100619323785],[0.22303972761734095,-2.2365100588038755]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[-0.19538555170732208,0.77618301311947,0.71338606911949],"aabb_xy":[[-0.2013520906480579,0.7702218684601058],[-0.18941901276658632,0.7821441577788338]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[-0.4823014941312356,1.302648003755201,0.71338606911949],"aabb_xy":[[-0.5048014946432762,1.2801561453898025],[-0.4598014936191949,1.3251398621205992]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.6404076490174984,-2.404605825991917,0.71338606911949],"aabb_xy":[[0.6054076491214795,-2.4129800615038572],[0.6754076489135172,-2.396231590479977]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[0.19840152007627931,1.0108472937075241,0.71338606911949],"aabb_xy":[[0.1759367501048742,0.9883472928286634],[0.22086629004768443,1.0333472945863844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829019445743331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7091.png","name":"7091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7091.png","name":"7091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2565.png","name":"2565"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3198.png","name":"3198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9567.png","name":"9567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6656.png","name":"6656"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":608.766100875269,"rotation_z_degrees":303.1018982396447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012570535625803826,0.019504760522693985,0.002236750187467749]},{"name":"camera_2","offset_m":[0.004594445995277818,-0.019052908751605917,0.01711221199679974]},{"name":"camera_3","offset_m":[-0.00939900351585317,-0.013817816484408408,-0.006249698734581442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018385206531498902,-0.0007641664404024571,0.0004427955041700145],"end_effector_yaw_offset_degrees":0.20687845232469804},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001099602366021505,-0.0017745310819182736,-0.0007690357581124224],"end_effector_yaw_offset_degrees":-0.9686234603170532},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015033459332192889,-0.00078326569683707,-0.0015543185045354523],"end_effector_yaw_offset_degrees":0.6091567939365119}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012781741658493529,-0.00433047480994113],"position_m":[0.35202182583415065,0.21306952519005887,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003610461995070302,-0.004622261343892556],"position_m":[0.2674895380049297,-0.34292226134389253,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006562982319634706,-0.004282439351786376],"position_m":[0.3010437017680366,0.3730175606482137,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016199554649897695,0.004372582310213748],"position_m":[0.3557800445350102,0.06907258231021374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7fae92cb4653e87a7e873b924abc95d095e660c1c479c086aae604084720048d","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7091/tex_ceiling_textures_6656/tex_floor_textures_9567/tex_table_textures_2565/tex_wall_textures_3198","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5605742873875954953,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5605742873875954953,"visual_seed":5605742873875954953,"scene_id":"lab_003","finished_at":"2026-09-04T06:30:59"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T06:31:02","dimensions":{"distractor":{"count":32,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.3149530779855783,1.114202691770755,0.71338606911949],"aabb_xy":[[-0.40495307740394915,1.080827194926565],[-0.22495307856720737,1.1475781886149445]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[0.18529091825212407,-1.0412157166952307,0.71338606911949],"aabb_xy":[[0.18033489806724287,-1.0637157168973523],[0.1902469384370053,-1.018715716493109]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.08560877723178739,-1.2595211618428908,0.71338606911949],"aabb_xy":[[-0.09157531617252318,-1.2654823065022545],[-0.0796422382910516,-1.2535600171835266]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.0028418330743035236,-2.208565011975111,0.71338606911949],"aabb_xy":[[-0.034658167273924234,-2.220356407556194],[0.04034183342253128,-2.196773616394027]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.38246196076609484,-0.7656782814596805,0.71338606911949],"aabb_xy":[[0.3698351734788985,-0.7752243551612533],[0.3950887480532912,-0.7561322077581075]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[-0.025369689887069224,-1.71175165407266,0.71338606911949],"aabb_xy":[[-0.1053696901606762,-1.7847012018983763],[0.054630310386537755,-1.638802106246943]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.41019495775300086,-1.0231841167728553,0.71338606911949],"aabb_xy":[[0.3958605326268374,-1.035244332327394],[0.4245293828791643,-1.0111239012183164]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.4857566922415668,-2.547295708100321,0.71338606911949],"aabb_xy":[[-0.5076653743809179,-2.5691963749204114],[-0.46384801010221577,-2.52539504128023]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.42857311376667445,-1.41283552898323,0.71338606911949],"aabb_xy":[[-0.4925731156790168,-1.4687466782412406],[-0.3645731118543321,-1.3569243797252197]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.32577380841208914,-0.5424804046338361,0.71338606911949],"aabb_xy":[[0.3218133246423548,-0.5501482692193567],[0.3297342921818235,-0.5348125400483155]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.2528839757310878,0.9782693267827396,0.71338606911949],"aabb_xy":[[0.24408192042211505,0.9704580006278104],[0.26168603104006044,0.9860806529376686]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.1041431379451736,-1.1895152550880874,0.71338606911949],"aabb_xy":[[0.09357565828707459,-1.200060285201096],[0.11471061760327261,-1.1789702249750789]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.659311519550313,-1.7838722953488935,0.71338606911949],"aabb_xy":[[0.6368115195401647,-1.7979685149884965],[0.6818115195604613,-1.76977607570929]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.2735513297809806,-0.8959834168876333,0.71338606911949],"aabb_xy":[[-0.2902284657740761,-0.9126833408615636],[-0.2568741937878851,-0.879283492913703]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.23619004411291256,-1.6646234498585302,0.71338606911949],"aabb_xy":[[-0.25083344966694554,-1.6792821695153142],[-0.22154663855887954,-1.6499647302017457]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.11686399549562221,0.73512153778581,0.71338606911949],"aabb_xy":[[-0.12557796454555664,0.7126215371266216],[-0.10815002644568769,0.757621538444998]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.4700078342366042,-1.2864614587357353,0.71338606911949],"aabb_xy":[[-0.5350078353425476,-1.3114268318038635],[-0.40500783313066097,-1.261496085667607]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.5274752032578087,0.3751106343728261,0.71338606911949],"aabb_xy":[[-0.6074752019146947,0.36060577544856337],[-0.4474752046009227,0.38961549329708894]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.18490349203356882,-2.3187489005025133,0.71338606911949],"aabb_xy":[[-0.19036143767058886,-2.398748903810172],[-0.17944554639654872,-2.2387488971948537]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.23205645981927364,-2.470924489995013,0.71338606911949],"aabb_xy":[[-0.2670564611707553,-2.491284225951834],[-0.1970564584677919,-2.4505647540381923]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.4799480478599225,0.06713076902759996,0.71338606911949],"aabb_xy":[[0.4549480479274046,0.06024810080667664],[0.5049480477924404,0.07401343724852327]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[-0.4984245475427157,-0.09517982732369168,0.71338606911949],"aabb_xy":[[-0.5262695843233228,-0.12596432606200336],[-0.4705795107621086,-0.06439532858538]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[-0.576590007394189,-2.346028751842826,0.71338606911949],"aabb_xy":[[-0.6140900059698098,-2.3587650475063837],[-0.5390900088185682,-2.333292456179268]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.08774077078541631,-1.4593040691037096,0.71338606911949],"aabb_xy":[[-0.13774077036175103,-1.5092846480558155],[-0.03774077120908159,-1.4093234901516036]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.6753701671128634,-1.2716148343969702,0.71338606911949],"aabb_xy":[[-0.687837525222599,-1.2840801590302937],[-0.6629028090031277,-1.2591495097636467]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[-0.17767167273378492,0.41679696119180765,0.71338606911949],"aabb_xy":[[-0.22767167375292022,0.38033074545397977],[-0.12767167171464966,0.45326317692963564]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.3532755834310235,1.4520660399920682,0.71338606911949],"aabb_xy":[[0.3362654861409729,1.4359315514937943],[0.3702856807210742,1.468200528490342]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.4896677129828621,-0.7706816136756038,0.71338606911949],"aabb_xy":[[-0.5010294476361483,-0.7820500800818919],[-0.47830597832957594,-0.7593131472693158]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.17719015341671773,1.5335230414760361,0.71338606911949],"aabb_xy":[[0.15969015428235053,1.5236434144384483],[0.19469015255108488,1.543402668513624]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[-0.5070558358703913,1.5707472285663475,0.71338606911949],"aabb_xy":[[-0.5123883505250042,1.5654229003211122],[-0.5017233212157783,1.5760715568115833]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_30","position":[-0.2613160747733307,-0.7569931862036894,0.71338606911949],"aabb_xy":[[-0.28381521049955766,-0.7794931869819521],[-0.23881693904710372,-0.7344931854254262]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_31","position":[-0.68351492318993,1.1779010236817142,0.71338606911949],"aabb_xy":[[-0.6905552331234671,1.097901024282043],[-0.6764746132563931,1.2579010230813858]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854932059575088,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2765.png","name":"2765"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2765.png","name":"2765"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5713.png","name":"5713"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5456.png","name":"5456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2552.png","name":"2552"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4585.png","name":"4585"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":538.3588906889469,"rotation_z_degrees":287.8359980466358,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013394059671539001,0.018820457860692915,-0.019777695532900052]},{"name":"camera_2","offset_m":[-0.01975699409587705,-0.011715932262034837,0.016541997025722514]},{"name":"camera_3","offset_m":[-0.01354294665260512,-0.016511120698338155,0.01586996609315534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017691793612145657,0.0008357136737545852,0.001465962583843],"end_effector_yaw_offset_degrees":0.1552420088272055},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002069945046746975,-0.0009235036062668601,0.0010983450950203984],"end_effector_yaw_offset_degrees":0.019511024270369992},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006320051967656113,-0.0016309246353374768,0.0015544691124238408],"end_effector_yaw_offset_degrees":-0.8274773080227211}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003293218293346908,-0.003502948131599958],"position_m":[0.3529706781706653,0.21389705186840005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035760454712186807,-0.001390042866344865],"position_m":[0.2675239545287813,-0.33969004286634485,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021296199891531775,0.004132176679614327],"position_m":[0.29957038001084685,0.3814321766796144,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00022183430037904777,0.0008887285471437488],"position_m":[0.357621834300379,0.06558872854714375,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"12096beda3fe59923bec8bf48d665978d0570deb0eda46e376891c3b651a279f","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2765/tex_ceiling_textures_4585/tex_floor_textures_2552/tex_table_textures_5713/tex_wall_textures_5456","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7475248220649174288,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7475248220649174288,"visual_seed":7475248220649174288,"scene_id":"lab_003","finished_at":"2026-09-04T06:34:03"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T06:34:06","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.5249078482304803,-1.691615165058709,0.71338606911949],"aabb_xy":[[0.47777846922864453,-1.7556151661031105],[0.5720372272323159,-1.6276151640143066]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.4248489248181815,-2.023873375123203,0.71338606911949],"aabb_xy":[[0.4178086148846446,-2.103873374522875],[0.4318892347517186,-1.9438733757235322]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.5914948131264983,0.6977177126791823,0.71338606911949],"aabb_xy":[[-0.6214864758603685,0.6677177133423817],[-0.5615031503926279,0.7277177120159828]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.2427632722808648,-1.3047519738896,0.71338606911949],"aabb_xy":[[0.19278032209338547,-1.3547519735321603],[0.29274622246834414,-1.2547519742470394]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.5164361688076807,-0.40812387199634825,0.71338606911949],"aabb_xy":[[-0.5367204715310794,-0.42840649713905704],[-0.4961518660842819,-0.38784124685363935]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[-0.5160988412992151,-0.004800362500323452,0.71338606911949],"aabb_xy":[[-0.5655792625131739,-0.06880036041317528],[-0.46661842008525634,0.05919963541252837]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.5237532741988132,0.8576744190044963,0.71338606911949],"aabb_xy":[[-0.527831432105863,0.8535934387562328],[-0.5196751162917634,0.8617553992527595]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.23902660937741904,0.23563968428901916,0.71338606911949],"aabb_xy":[[-0.28902661032795185,0.20409053728549775],[-0.1890266084268862,0.26718883129254056]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.08317027988285286,-2.374012722362932,0.71338606911949],"aabb_xy":[[0.03317526892340086,-2.424012721398524],[0.13316529084230494,-2.3240127233273404]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.4077428663735869,0.5794495002938032,0.71338606911949],"aabb_xy":[[-0.4436563707985766,0.5435359920770484],[-0.3718293619485972,0.6153630085105577]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.33450832532718255,-1.7085104549160235,0.71338606911949],"aabb_xy":[[0.30021141430944187,-1.7428073411259644],[0.3688052363449231,-1.6742135687060817]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.5846695038424585,-1.1299592688800257,0.71338606911949],"aabb_xy":[[0.5560201714820422,-1.1586048281571015],[0.6133188362028746,-1.10131370960295]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.09307525150086482,-2.195907187736356,0.71338606911949],"aabb_xy":[[-0.1155752520129054,-2.218399046101754],[-0.07057525098882421,-2.1734153293709575]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.02699953378927966,-2.015774345746758,0.71338606911949],"aabb_xy":[[0.004485841965822468,-2.0857743463477654],[0.049513225612736855,-1.9457743451457503]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.14593104910147425,0.9652366377564565,0.71338606911949],"aabb_xy":[[0.13989403610080953,0.9592099366875085],[0.15196806210213898,0.9712633388254049]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.25363798354345485,1.476031090221667,0.71338606911949],"aabb_xy":[[-0.31363798339002164,1.419212468028628],[-0.19363798369688806,1.5328497124147054]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.26635391947742965,-2.3663814121141704,0.71338606911949],"aabb_xy":[[-0.3279446787014225,-2.4303814102232173],[-0.20476316025343688,-2.3023814140051235]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.6644861846286003,-2.41259353189042,0.71338606911949],"aabb_xy":[[0.658391556740482,-2.421162926442089],[0.6705808125167186,-2.4040241373387516]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.6487248413851736,-0.16507564974974498,0.71338606911949],"aabb_xy":[[0.6427583024444379,-0.17103679440910902],[0.6546913803259093,-0.15911450509038094]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.17048161678586837,1.081552792103425,0.71338606911949],"aabb_xy":[[0.14263658000526125,1.050768293365113],[0.1983266535664755,1.1123372908417364]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.29383325092526885,-1.3513225787982457,0.71338606911949],"aabb_xy":[[-0.3311645274505115,-1.385975633593098],[-0.2565019744000262,-1.3166695240033934]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.29350373364456084,-1.5051106025233525,0.71338606911949],"aabb_xy":[[0.22950373634221444,-1.5494770294912092],[0.35750373094690724,-1.4607441755554957]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.22683684453618524,1.0119043082199601,0.71338606911949],"aabb_xy":[[-0.2618368437290035,1.0009372622222974],[-0.19183684534336695,1.0228713542176224]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.2212318219555155,-0.9580815722944298,0.71338606911949],"aabb_xy":[[0.14123181979275298,-1.0380367559205734],[0.301231824118278,-0.8781263886682862]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871571695689919,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3579.png","name":"3579"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3579.png","name":"3579"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6295.png","name":"6295"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1109.png","name":"1109"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":551.0895801614006,"rotation_z_degrees":146.85111498384805,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010441692313318582,-0.01506884978710803,0.005548417188170993]},{"name":"camera_2","offset_m":[-0.013555991806985978,-0.014726183633820522,-0.0011035905036152135]},{"name":"camera_3","offset_m":[-0.013584189674404511,0.010768674298225672,-0.013799519544340232]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005256540572826608,-0.0003544360314831866,-0.0004444503222442945],"end_effector_yaw_offset_degrees":-0.04721310528977507},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014707519986897682,0.0007070550798781738,0.0004543657688220932],"end_effector_yaw_offset_degrees":0.9492861360433125},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011530878834722885,-0.0005005701790803934,-0.0003157481456871874],"end_effector_yaw_offset_degrees":0.12519855844303596}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037886526642993837,0.0018449266016371943],"position_m":[0.3570886526642994,0.2192449266016372,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004139911299348409,0.002041115663233589],"position_m":[0.27523991129934844,-0.33625888433676643,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025497866204156052,8.85874458996785e-05],"position_m":[0.30424978662041563,0.3773885874458997,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00028323251545502286,-0.003700591989919274],"position_m":[0.35711676748454496,0.06099940801008072,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9e44a91f32e320e744b2131346901cc888f06338b3c49d6510bb386e0d380cb","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0052.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3579/tex_ceiling_textures_2451/tex_floor_textures_1109/tex_table_textures_6295/tex_wall_textures_7549","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":959308203518849435,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":959308203518849435,"visual_seed":959308203518849435,"scene_id":"lab_003","finished_at":"2026-09-04T06:37:09"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T06:37:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.0990565476102,-1.6449414464409795,0.71338606911949],"aabb_xy":[[-0.14036109067393598,-1.7089414460090966],[-0.05775200454646401,-1.5809414468728624]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.6547393923674776,-1.3968467227174493,0.71338606911949],"aabb_xy":[[0.6197393931746592,-1.4078137687151118],[0.6897393915602957,-1.3858796767197863]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.39956877872631774,1.7795323893554884,0.71338606911949],"aabb_xy":[[-0.4121714778633942,1.766936993130623],[-0.3869660795892413,1.792127785580354]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.30394810618130064,-2.19422243871933,0.71338606911949],"aabb_xy":[[-0.38394810645490757,-2.267171986545047],[-0.22394810590769362,-2.1212728908936134]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[-0.1693821536125485,-0.931382596419593,0.71338606911949],"aabb_xy":[[-0.18454502658948557,-0.946548053714712],[-0.1542192806356114,-0.9162171391244744]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.606632105351236,0.16324086967199225,0.71338606911949],"aabb_xy":[[0.5937602018502959,0.08324086925815612],[0.6195040088521762,0.2432408700858284]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.31199603319609537,-1.1235889348644421,0.71338606911949],"aabb_xy":[[0.23199603603652008,-1.1351365358222592],[0.39199603035567065,-1.112041333906625]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.11532572208380798,1.3910156396859379,0.71338606911949],"aabb_xy":[[-0.17532572193037477,1.3341970174928992],[-0.05532572223724118,1.4478342618789766]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.5125324315289828,-1.5341160779336966,0.71338606911949],"aabb_xy":[[0.46254819582080553,-1.5841160767471922],[0.56251666723716,-1.484116079120201]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[-0.6326075320376294,-1.1102719874284404,0.71338606911949],"aabb_xy":[[-0.6571211561346353,-1.1345365807304768],[-0.6080939079406236,-1.086007394126404]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.6295056585544783,-1.8652264307317563,0.71338606911949],"aabb_xy":[[0.5867389516750581,-1.9292264341535588],[0.6722723654338985,-1.8012264273099539]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.3366300345315354,1.6894800430454713,0.71338606911949],"aabb_xy":[[0.28665696899902,1.6394800432329386],[0.38660310006405096,1.7394800428580044]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.24580829026577267,0.85142636886519,0.71338606911949],"aabb_xy":[[-0.33580828968414356,0.8180508720210001],[-0.1558082908474018,0.8848018657093796]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.46647298599576875,0.01699089467758963,0.71338606911949],"aabb_xy":[[-0.530472986269747,-0.033075205519698336],[-0.4024729857217905,0.0670569948748776]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.5077250337802204,-1.2803180182170815,0.71338606911949],"aabb_xy":[[0.4599188661664516,-1.3453180209241404],[0.5555312013939889,-1.2153180155100225]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.6526679423896218,1.7182576768496456,0.71338606911949],"aabb_xy":[[-0.6619615606267724,1.6807576783615117],[-0.6433743241524712,1.7557576753377795]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.07445017798816878,-2.536104224094196,0.71338606911949],"aabb_xy":[[0.06633652331479167,-2.544210040548225],[0.08256383266154588,-2.527998407640167]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.47494616144474455,0.47594453324882835,0.71338606911949],"aabb_xy":[[0.45744616216665757,0.45860643318248245],[0.4924461607228313,0.49328263331517436]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[0.4905330286329095,0.8568898692451561,0.71338606911949],"aabb_xy":[[0.46054136589903916,0.8268898699083554],[0.5205246913667798,0.8868898685819565]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.3967601333526446,-1.8563343160969623,0.71338606911949],"aabb_xy":[[-0.4467389418629605,-1.906334316102681],[-0.3467813248423287,-1.8063343160912433]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[0.46332214291441143,-0.3904543217981278,0.71338606911949],"aabb_xy":[[0.4584785481531815,-0.39530597427711195],[0.46816573767564146,-0.3856026693191437]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.6830880733588729,-1.0751987800028822,0.71338606911949],"aabb_xy":[[0.6704612860716764,-1.084744853704455],[0.6957148606460691,-1.0656527063013093]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[-0.5436728303547934,-0.5882879892716584,0.71338606911949],"aabb_xy":[[-0.6336728270904036,-0.6414714525889529],[-0.4536728336191832,-0.5351045259543639]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[-0.5398489785249462,-2.2380032963113794,0.71338606911949],"aabb_xy":[[-0.5743114565380338,-2.244666973494302],[-0.5053865005118583,-2.2313396191284567]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.5594987715002948,-2.35414709653576,0.71338606911949],"aabb_xy":[[0.47949876824245186,-2.4341436043277436],[0.6394987747581378,-2.2741505887437756]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.28518824354572847,-0.6562549163796154,0.71338606911949],"aabb_xy":[[0.2476882423609356,-0.6606731390756758],[0.32268824473052116,-0.6518366936835548]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.21457917689491685,0.48769640146925797,0.71338606911949],"aabb_xy":[[-0.2995791753123401,0.40282210600697294],[-0.12957917847749362,0.5725706969315429]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889903176525672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8161.png","name":"8161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8161.png","name":"8161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9945.png","name":"9945"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2282.png","name":"2282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3726.png","name":"3726"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.816080882408,"rotation_z_degrees":33.498316201141016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010044135602007445,0.003869603143996002,-0.006740275888488311]},{"name":"camera_2","offset_m":[0.011967125548080108,0.003646841325038022,0.01129522965969686]},{"name":"camera_3","offset_m":[0.00023011194028860552,-0.007484107583425286,-0.006994482521916638]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013685687452097877,-0.0011318578429228916,0.0001142337752038764],"end_effector_yaw_offset_degrees":-0.11032399291252215},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013200833474407078,-0.0005593175503546509,-0.0017986935308719142],"end_effector_yaw_offset_degrees":0.9721324859468037},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00044227337670721184,0.0018164188797337934,6.651578601848994e-05],"end_effector_yaw_offset_degrees":0.8781284921713994}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013451906604400854,-0.0013816213294784553],"position_m":[0.3519548093395599,0.21601837867052157,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037954680979854676,-0.003966312078707453],"position_m":[0.2748954680979855,-0.34226631207870745,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003252779838630642,0.00014011629900616013],"position_m":[0.2984472201613694,0.3774401162990062,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037792736650059354,0.0009386306400455098],"position_m":[0.3536207263349941,0.0656386306400455,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3421650040ff3f369bed8e5ce14275ec4ae0285aba2fc89fb316bd574395fe56","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8161/tex_ceiling_textures_3726/tex_floor_textures_86/tex_table_textures_9945/tex_wall_textures_2282","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8118997838165122910,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8118997838165122910,"visual_seed":8118997838165122910,"scene_id":"lab_003","finished_at":"2026-09-04T06:40:13"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T06:40:18","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.573281167622647,-0.29767912341936764,0.71338606911949],"aabb_xy":[[-0.6372811699654485,-0.34261997466350014],[-0.5092811652798453,-0.25273827217523515]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.10040927504110086,1.0614160440453637,0.71338606911949],"aabb_xy":[[0.040409275194534064,1.004597421852325],[0.16040927488766765,1.1182346662384024]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.08180456318546203,-1.5682357460706609,0.71338606911949],"aabb_xy":[[-0.11930456470109373,-1.579462519086806],[-0.04430456166983031,-1.5570089730545158]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.25381524343379963,-0.46618188347059686,0.71338606911949],"aabb_xy":[[-0.3037981936212789,-0.516181883113157],[-0.20383229324632027,-0.41618188382803634]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.5437513874705604,1.743949914654658,0.71338606911949],"aabb_xy":[[0.4937725789602445,1.6939499146489392],[0.5937301959808763,1.7939499146603768]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.3664739770501735,-1.4691586835536012,0.71338606911949],"aabb_xy":[[0.28647397488741094,-1.5491138671797446],[0.4464739792129359,-1.3892034999274574]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.4662522466892207,-1.3812848518080854,0.71338606911949],"aabb_xy":[[-0.5212522458658102,-1.436274526583043],[-0.4112522475126312,-1.3262951770331277]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.5760234713135599,-0.5266495799516595,0.71338606911949],"aabb_xy":[[0.5386921947883173,-0.5613026347465119],[0.6133547478388025,-0.4919965251568073]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.056279580296654474,-1.5635889842023478,0.71338606911949],"aabb_xy":[[0.0482362203706993,-1.6485889852977142],[0.06432294022260965,-1.4785889831069814]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.3509437891161695,-1.6153986064478603,0.71338606911949],"aabb_xy":[[0.33958205446288336,-1.6267670728541481],[0.3623055237694557,-1.604030140041572]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.4532926176941907,1.1168623704462064,0.71338606911949],"aabb_xy":[[0.4357143155052439,1.0992878808721014],[0.4708709198831376,1.1344368600203114]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.5821211876939785,0.7170726867886312,0.71338606911949],"aabb_xy":[[-0.6171211875899972,0.7086984512766912],[-0.5471211877979595,0.7254469223005711]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.7090789393746293,-0.5891481372053471,0.71338606911949],"aabb_xy":[[0.7018351733283841,-0.6691481354089495],[0.7163227054208747,-0.5091481390017447]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.3837454880085518,-2.098145244689128,0.71338606911949],"aabb_xy":[[0.31974549070620534,-2.1425116716569845],[0.44774548531089814,-2.053778817721271]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.566591529750555,1.14606866270088,0.71338606911949],"aabb_xy":[[-0.6165645952830705,1.0960686628883471],[-0.5166184642180396,1.196068662513413]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.5089162653635051,-1.906548308540441,0.71338606911949],"aabb_xy":[[-0.5264161987974884,-1.9240483084606756],[-0.4914163319295216,-1.8890483086202066]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.5296505510735519,1.354344190403888,0.71338606911949],"aabb_xy":[[0.4656505491612095,1.2984330411458775],[0.5936505529858942,1.4102553396618984]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.29230953481212885,-2.519745465116678,0.71338606911949],"aabb_xy":[[-0.29840416270024717,-2.5283148596683467],[-0.2862149069240105,-2.5111760705650092]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.312602272800496,0.4868850503051343,0.71338606911949],"aabb_xy":[[0.2781397947874082,0.48022137312221147],[0.34706475081358373,0.4935487274880571]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.444478483197385,-1.218566074352134,0.71338606911949],"aabb_xy":[[-0.4623475909518404,-1.2323989823293449],[-0.42660937544292943,-1.2047331663749232]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[-0.33466498129982014,1.6695670561992801,0.71338606911949],"aabb_xy":[[-0.4246649780354303,1.6163835928819854],[-0.24466498456420988,1.7227505195165744]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.3650606540289387,-1.2238849824120344,0.71338606911949],"aabb_xy":[[0.3549789469503652,-1.3038849803041488],[0.37514236110751215,-1.1438849845199195]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.35022259990011895,-2.3123212896778695,0.71338606911949],"aabb_xy":[[0.3002225985392317,-2.3622991942532847],[0.4002226012610062,-2.2623433851024535]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[-0.0659374302066339,-1.327397392478065,0.71338606911949],"aabb_xy":[[-0.07556906642706351,-1.337034705257774],[-0.05630579398620428,-1.3177600796983562]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.6040472697382264,-2.248162709314795,0.71338606911949],"aabb_xy":[[-0.6345315198652565,-2.298162709096291],[-0.5735630196111962,-2.198162709533299]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.6091800058221652,-0.6082920095170465,0.71338606911949],"aabb_xy":[[-0.6891738294007235,-0.6882920121098881],[-0.529186182243607,-0.528292006924205]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.43167935864319634,0.8426613413268691,0.71338606911949],"aabb_xy":[[-0.4387196685767334,0.762661341927198],[-0.4246390487096594,0.9226613407265408]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[-0.16262518882849142,0.4092190561716298,0.71338606911949],"aabb_xy":[[-0.2266251859405971,0.3601866863772192],[-0.09862519171638573,0.4582514259660404]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[-0.5299219308178849,0.5342169400237635,0.71338606911949],"aabb_xy":[[-0.5442563559440483,0.5221567244692247],[-0.5155875056917214,0.5462771555783024]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_29","position":[-0.15085511584559286,1.2805491413070618,0.71338606911949],"aabb_xy":[[-0.15569871060682283,1.2756974888280777],[-0.14601152108436288,1.2854007937860459]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[0.531157472802972,-1.3278891733944251,0.71338606911949],"aabb_xy":[[0.5230438181295949,-1.3359949898484542],[0.5392711274763491,-1.319783356940396]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.3600822215944098,1.447138171292353,0.71338606911949],"aabb_xy":[[-0.3829979344794598,1.4242338741559295],[-0.33716650870935994,1.4700424684287765]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_32","position":[0.18882260658663574,-2.0379775963214133,0.71338606911949],"aabb_xy":[[0.10510038108655329,-2.127977599856109],[0.2725448320867182,-1.947977592786717]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_33","position":[-0.07206501228899154,0.6533077174273987,0.71338606911949],"aabb_xy":[[-0.09456143372285565,0.6308077176206512],[-0.04956859085512745,0.6758077172341461]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_34","position":[-0.09299011886636532,0.0919867186773402,0.71338606911949],"aabb_xy":[[-0.13049011728976567,0.07882250470950958],[-0.05549012044296496,0.10515093264517084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859144810931948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/755.png","name":"755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/755.png","name":"755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3749.png","name":"3749"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4154.png","name":"4154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2300.png","name":"2300"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7990.png","name":"7990"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":703.9279830839808,"rotation_z_degrees":54.49843567233912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007868471407100168,0.0036401013998589825,0.01502927871635074]},{"name":"camera_2","offset_m":[-0.00523665422510609,-0.011706021146362771,-0.013567218573879712]},{"name":"camera_3","offset_m":[-0.004389891935399031,0.009816737290033094,-0.005343531406369792]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011719705555621068,0.0014764401345625506,0.0019434489802964486],"end_effector_yaw_offset_degrees":0.6836224301594438},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018095281775860521,-0.0005251307134333629,-0.0009099072110747874],"end_effector_yaw_offset_degrees":0.7664111322794234},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008004042005863819,-0.00122384457461964,0.0019517282438167001],"end_effector_yaw_offset_degrees":0.7177882665516666}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015443854788711993,-0.003636818403155503],"position_m":[0.3548443854788712,0.21376318159684451,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005418715609913881,0.0018161651784158895],"position_m":[0.2716418715609914,-0.3364838348215841,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020660732819686193,-0.001439445788397805],"position_m":[0.30376607328196864,0.3758605542116022,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032048957388415523,-0.0027386399905276093],"position_m":[0.35419510426115847,0.06196136000947238,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a026be9871973d6383d63654bb709dca5747a875e9c499af6b40da858db48092","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_755/tex_ceiling_textures_7990/tex_floor_textures_2300/tex_table_textures_3749/tex_wall_textures_4154","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2879537263359832968,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2879537263359832968,"visual_seed":2879537263359832968,"scene_id":"lab_003","finished_at":"2026-09-04T06:43:28"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T06:43:31","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.12572719062337534,1.6704973468178976,0.71338606911949],"aabb_xy":[[0.12026924498635527,1.5904973435102383],[0.1311851362603954,1.7504973501255565]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.6018939547020301,-2.2213855113059413,0.71338606911949],"aabb_xy":[[-0.6072315303680347,-2.246385512235081],[-0.5965563790360255,-2.1963855103768015]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.6471682249718509,-1.3720846197920162,0.71338606911949],"aabb_xy":[[0.5971949309685903,-1.4220846203465631],[0.6971415189751112,-1.3220846192374685]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.4789331985323735,0.9734575668679222,0.71338606911949],"aabb_xy":[[-0.5589331971892595,0.9589527079436594],[-0.3989331998754875,0.987962425792185]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.522541795208309,-1.0088575840658518,0.71338606911949],"aabb_xy":[[-0.5865417937948814,-1.0558645474653605],[-0.45854179662173644,-0.9618506206663431]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.2225680595816898,-0.4893235407945764,0.71338606911949],"aabb_xy":[[-0.28756806053881695,-0.541271752728282],[-0.15756805862456255,-0.4373753288608708]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.1746545818077263,-1.9071577481309208,0.71338606911949],"aabb_xy":[[-0.23465458266853906,-1.9585841781374067],[-0.11465458094691346,-1.855731318124434]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.5436170786211899,-0.519116473084487,0.71338606911949],"aabb_xy":[[-0.5517447668145031,-0.5280300814951948],[-0.5354893904278767,-0.5102028646737795]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.39948287906387225,1.0921119552975647,0.71338606911949],"aabb_xy":[[-0.4362775121887785,1.0552060802009824],[-0.362688245938966,1.129017830394147]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.6366668850024413,0.16922081504248565,0.71338606911949],"aabb_xy":[[0.5991668845050829,0.16525213149436724],[0.6741668854997994,0.17318949859060406]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.5348615859802387,-1.8444890177198106,0.71338606911949],"aabb_xy":[[-0.557361585503946,-1.866984965170431],[-0.5123615864565312,-1.8219930702691896]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.09589523930183697,-2.293397064997844,0.71338606911949],"aabb_xy":[[0.04187964301993695,-2.357397067890101],[0.14991083558373697,-2.2293970621055865]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.16667486307566348,-1.2589880772556368,0.71338606911949],"aabb_xy":[[-0.19532419543607968,-1.2876336365327123],[-0.13802553071524723,-1.2303425179785608]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.6583757109579746,1.6095661071004455,0.71338606911949],"aabb_xy":[[-0.6948715315852534,1.5730821646736877],[-0.6218798903306959,1.6460500495272028]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.07988253629760877,-1.6663058165977631,0.71338606911949],"aabb_xy":[[-0.00383968920247367,-1.756305820132459],[0.16360476179769123,-1.5763058130630672]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.6509867052083385,-0.320931616662973,0.71338606911949],"aabb_xy":[[0.6274015817444436,-0.38593161890840477],[0.6745718286722333,-0.2559316144175412]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.3500199398082984,0.9771731686392697,0.71338606911949],"aabb_xy":[[0.336573413174255,0.9637033169861785],[0.36346646644234165,0.990643020292361]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.14903549473659583,-0.7495443690093104,0.71338606911949],"aabb_xy":[[-0.16646620981560234,-0.7668164836731611],[-0.13160477965758932,-0.7322722543454595]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.07838906727827344,0.24866833080839346,0.71338606911949],"aabb_xy":[[-0.09529979971461522,0.23519612521577893],[-0.061478334841931666,0.262140536401008]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.14930057664231744,1.5689278591726459,0.71338606911949],"aabb_xy":[[-0.18680057506571776,1.5557636452048151],[-0.11180057821891706,1.5820920731404766]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.5185102843055325,-2.122018239246093,0.71338606911949],"aabb_xy":[[0.4960102842953842,-2.1361144588856957],[0.5410102843156808,-2.107922019606489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845145906214521,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5536.png","name":"5536"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2496.png","name":"2496"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":650.6986856318765,"rotation_z_degrees":355.8954269140466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006603627060641793,0.00029085402054481943,0.01429582425520987]},{"name":"camera_2","offset_m":[0.0156913179284394,0.007302867667894401,0.004248920323890116]},{"name":"camera_3","offset_m":[-0.010493059059690411,-0.01442111522566222,-0.010201996505832684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011568302669811349,0.0013508960830627879,-0.00032614058542402235],"end_effector_yaw_offset_degrees":-0.7214569986826163},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011097059372247018,-7.846569219515276e-05,-0.0012203419978369543],"end_effector_yaw_offset_degrees":0.6530806303811956},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001078079396674021,-0.0001082028177521318,-0.0008318580503371145],"end_effector_yaw_offset_degrees":0.7866308183822952}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016249780691184358,-0.004504980286458052],"position_m":[0.35167502193088157,0.21289501971354197,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004920943915000125,0.004130159253731999],"position_m":[0.26617905608499987,-0.334169840746268,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009235260883178062,0.0005550374880112187],"position_m":[0.3007764739116822,0.37785503748801125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014225391872322727,0.0003252669756341319],"position_m":[0.3588225391872323,0.06502526697563413,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26cb6800a5cb971e80800994356d75850c32cc23433b028cd5f6608a90385f37","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3710/tex_ceiling_textures_2496/tex_floor_textures_5873/tex_table_textures_649/tex_wall_textures_5536","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2882130347275063478,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2882130347275063478,"visual_seed":2882130347275063478,"scene_id":"lab_003","finished_at":"2026-09-04T06:46:32"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T06:46:35","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.05484599739711005,1.6737036293132843,0.71338606911949],"aabb_xy":[[-0.09234599734087645,1.6654105392784473],[-0.017345997453343642,1.6819967193481205]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.11173537009594503,1.325819193634881,0.71338606911949],"aabb_xy":[[-0.13364405223529607,1.3039185268147904],[-0.08982668795659397,1.3477198604549718]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.3403725132780724,-1.1554455537253328,0.71338606911949],"aabb_xy":[[0.3306165237688985,-1.1652080877845672],[0.3501285027872463,-1.1456830196660983]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.22988730046484374,-1.0054255013811562,0.71338606911949],"aabb_xy":[[0.14988730350180454,-1.0825011430249296],[0.3098872974278829,-0.9283498597373827]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.5240647901760849,-0.5910142539889789,0.71338606911949],"aabb_xy":[[-0.5740380841793452,-0.6410142545435261],[-0.4740914961728243,-0.5410142534344314]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.5668087370948238,-1.659029958040691,0.71338606911949],"aabb_xy":[[-0.5769617526489731,-1.695099499613431],[-0.5566557215406743,-1.6229604164679503]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.5306261759144122,0.9354093254791258,0.71338606911949],"aabb_xy":[[-0.6006261793059741,0.9000935517756948],[-0.46062617252285015,0.9707250991825566]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.5528781586504204,-2.165632473344725,0.71338606911949],"aabb_xy":[[-0.561680213959393,-2.173443799499654],[-0.5440761033414476,-2.1578211471897957]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.026492662274441137,-1.0773606025287992,0.71338606911949],"aabb_xy":[[-0.061083745128486355,-1.14236060281383],[0.008098420579604077,-1.012360602243768]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.14919490619561138,-0.9709913041046094,0.71338606911949],"aabb_xy":[[-0.16925331780885167,-0.9910563910137669],[-0.1291364945823711,-0.9509262171954518]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.5503719571716382,1.718441904235784,0.71338606911949],"aabb_xy":[[-0.586001113071598,1.6828092374789312],[-0.5147428012716785,1.754074570992637]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.4635313540978737,-1.483915959445151,0.71338606911949],"aabb_xy":[[-0.5135087709631272,-1.5339159609343993],[-0.41355393723262,-1.4339159579559022]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.5581352129699046,1.2027303958098834,0.71338606911949],"aabb_xy":[[-0.6381290365484629,1.122730393217042],[-0.4781413893913464,1.2827303984027252]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.4733180166843528,0.7859498982461268,0.71338606911949],"aabb_xy":[[-0.49623372956940276,0.7630456011097034],[-0.45040230379930296,0.8088541953825504]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[0.4533859677343981,1.0670237537573803,0.71338606911949],"aabb_xy":[[0.37338596630427084,0.9875065987447709],[0.5333859691645253,1.1465409087699898]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.2372536090182823,1.5458908955002832,0.71338606911949],"aabb_xy":[[0.18226135838277135,1.4908908937569707],[0.29224585965379324,1.6008908972435965]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.449571662758958,-2.2329206157471675,0.71338606911949],"aabb_xy":[[-0.48386857377669856,-2.2672175019571084],[-0.4152747517412173,-2.1986237295372257]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.026142581751268823,-1.9295503498136655,0.71338606911949],"aabb_xy":[[-0.011357418065764735,-1.934188561124807],[0.06364258156830238,-1.9249121385025234]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.6021626538344355,0.7806239135049298,0.71338606911949],"aabb_xy":[[-0.6153935993691166,0.7673964944829303],[-0.588931708299754,0.7938513325269292]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.3590205140926148,-0.5668449974669949,0.71338606911949],"aabb_xy":[[0.3090474485600994,-0.6168449972795279],[0.4089935796251304,-0.5168449976544621]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.27217541450507154,1.7866152200966847,0.71338606911949],"aabb_xy":[[0.2471754145725537,1.7797325518757614],[0.2971754144375895,1.793497888317608]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.38427525296269915,-1.9606910675861062,0.71338606911949],"aabb_xy":[[0.34742470502571154,-1.9981910684091397],[0.42112580089968676,-1.9231910667630723]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[-0.23314232868188095,0.21735281600694822,0.71338606911949],"aabb_xy":[[-0.2831371616098225,0.1673528171117047],[-0.18314749575393932,0.26735281490219176]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.21892466066941352,-2.523054560380725,0.71338606911949],"aabb_xy":[[-0.25338700806755526,-2.5575484427785473],[-0.1844623132712717,-2.488560677982902]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.5984907438962213,0.5325653981975154,0.71338606911949],"aabb_xy":[[0.5860233857864857,0.5201000735641919],[0.610958102005957,0.5450307228308389]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[-0.6282584879216686,-1.901289910846451,0.71338606911949],"aabb_xy":[[-0.6457584870560356,-1.9111695378840383],[-0.6107584887873012,-1.8914102838088627]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.43765912551583874,-1.3097927874171067,0.71338606911949],"aabb_xy":[[-0.4926591237175836,-1.3503147540435443],[-0.3826591273140939,-1.269270820790669]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[-0.06713838935202587,-2.3225113149384224,0.71338606911949],"aabb_xy":[[-0.15213838804410051,-2.3544971783333013],[0.017861609340048767,-2.2905254515435436]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.42148549802901936,0.396405062594936,0.71338606911949],"aabb_xy":[[-0.5114854966234894,0.380154476281515],[-0.33148549943454947,0.41265564890835704]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[-0.3935691716948852,-0.46632435394930916,0.71338606911949],"aabb_xy":[[-0.41545891928382594,-0.5563243512385582],[-0.37167942410594434,-0.37632435666006]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[0.6484236266882037,-1.2977112631800218,0.71338606911949],"aabb_xy":[[0.5984236280422826,-1.347630806839484],[0.6984236253341249,-1.2477917195205592]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_31","position":[-0.3655858948868406,-0.7077092070036106,0.71338606911949],"aabb_xy":[[-0.40058589401679623,-0.7134544280792746],[-0.3305858957568849,-0.7019639859279464]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861475271727074,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6738.png","name":"6738"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6738.png","name":"6738"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7514.png","name":"7514"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4300.png","name":"4300"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3192.png","name":"3192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6098.png","name":"6098"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":602.0755086042805,"rotation_z_degrees":242.20230919831226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019389351235177873,-0.0131355535263166,-0.0032456075313866753]},{"name":"camera_2","offset_m":[0.010555212619067507,0.01884283973352351,0.017862124854667986]},{"name":"camera_3","offset_m":[0.012220772700086296,0.010409440956061125,0.0032974053590864166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008663464599792388,0.001182646720697659,0.0010688818940849725],"end_effector_yaw_offset_degrees":0.016326145197693265},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013348298405081492,-0.0006588609186775919,-0.0009581579056015151],"end_effector_yaw_offset_degrees":-0.7448370171253016},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010656497368011363,0.0007186759233439219,0.0009904162198228032],"end_effector_yaw_offset_degrees":-0.013748975130903007}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002233049190197201,-0.0014395254969387329],"position_m":[0.3555330491901972,0.21596047450306127,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004792884092318477,0.004458241110640031],"position_m":[0.2758928840923185,-0.33384175888935996,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004259296203294608,0.0027583551230687354],"position_m":[0.3012740703796706,0.38005835512306874,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005942239670042801,0.003935811722941882],"position_m":[0.35680577603299574,0.06863581172294188,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"621a563b76ee3d87099e665d791240b0fe7f09a485cf80e2c0eca03c01ace488","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6738/tex_ceiling_textures_6098/tex_floor_textures_3192/tex_table_textures_7514/tex_wall_textures_4300","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":234179165593151231,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":234179165593151231,"visual_seed":234179165593151231,"scene_id":"lab_003","finished_at":"2026-09-04T06:49:40"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T06:49:43","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.21629671745626722,-0.7109708826723573,0.71338606911949],"aabb_xy":[[0.19501870931279494,-0.7759708849984303],[0.23757472559973944,-0.6459708803462841]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.5714274959086326,1.639772260889313,0.71338606911949],"aabb_xy":[[-0.6214049127738861,1.5897722594000645],[-0.5214500790433789,1.6897722623785616]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.03657803789987568,-1.8496967315329955,0.71338606911949],"aabb_xy":[[-0.027421963778121672,-1.8982141230123095],[0.10057803957787304,-1.801179340053681]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.014906615908421905,-1.9666998324461382,0.71338606911949],"aabb_xy":[[-0.010093383363540374,-1.9830451960423003],[0.03990661518038418,-1.9503544688499757]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.4915047783396542,1.6633480282645254,0.71338606911949],"aabb_xy":[[0.4115047778694383,1.6550373206501776],[0.5715047788098702,1.6716587358788741]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.4502318939929734,-0.5390258453318038,0.71338606911949],"aabb_xy":[[-0.4952318954592023,-0.5840257021932844],[-0.40523189252674463,-0.4940259884703231]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.04524595424575262,0.8670847838279512,0.71338606911949],"aabb_xy":[[-0.11024595428005535,0.8203841071476238],[0.019754045788550112,0.9137854605082784]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.6396820004027215,-2.140820630804877,0.71338606911949],"aabb_xy":[[0.61640015820459,-2.2258206321021046],[0.6629638426008527,-2.0558206295076484]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.22735973672650983,1.3812843455015549,0.71338606911949],"aabb_xy":[[-0.23651961567038646,1.3747531274580178],[-0.21819985778263326,1.387815563545092]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.617616302121572,0.935117446606335,0.71338606911949],"aabb_xy":[[-0.6776163026294248,0.8782707129204137],[-0.557616301613719,0.9919641802922563]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.1916815664117646,0.2979934227663943,0.71338606911949],"aabb_xy":[[-0.2816815700886827,0.23656101618928987],[-0.10168156273484638,0.3594258293434986]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.45768095406818887,0.21165898785659376,0.71338606911949],"aabb_xy":[[-0.4951809526438096,0.19892269219303582],[-0.420180955492568,0.2243952835201517]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.55057542884053,-1.6942821084855493,0.71338606911949],"aabb_xy":[[0.5377035253395898,-1.7742821088993852],[0.56344733234147,-1.614282108071713]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.5587406598201214,-1.3494109217610857,0.71338606911949],"aabb_xy":[[0.47874065765735885,-1.429366105387229],[0.6387406619828838,-1.2694557381349418]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.24606792334089023,1.2968374737924,0.71338606911949],"aabb_xy":[[-0.2835679238382484,1.2928687902442817],[-0.20856792284353193,1.3008061573405187]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.20903995767551908,-2.3447879678801393,0.71338606911949],"aabb_xy":[[0.19136432708692072,-2.362468184159542],[0.2267155882641174,-2.3271077516007366]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.24086728220676684,0.1732791834171037,0.71338606911949],"aabb_xy":[[-0.2487905624455152,0.15077918317910033],[-0.23294400196801854,0.19577918365510705]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.20045705929242302,-1.9264382597126866,0.71338606911949],"aabb_xy":[[-0.26445705956640125,-1.9765043599099745],[-0.1364570590184448,-1.8763721595153986]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.22599144421867162,-1.6749564575084976,0.71338606911949],"aabb_xy":[[-0.2759756799268489,-1.7249564563219935],[-0.17600720851049442,-1.6249564586950023]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.33728086481424335,1.5750196237645828,0.71338606911949],"aabb_xy":[[-0.387280864254439,1.5250516992802665],[-0.28728086537404773,1.6249875482488991]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.38014898670966657,-1.366024291872129,0.71338606911949],"aabb_xy":[[0.3714350176597321,-1.3885242925313168],[0.38886295575960106,-1.3435242912129404]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[-0.3634522435640943,1.0423163392638228,0.71338606911949],"aabb_xy":[[-0.37086469910548275,1.0364651288421949],[-0.3560397880227058,1.0481675496854508]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.5635442997679254,0.3962422480475096,0.71338606911949],"aabb_xy":[[-0.6010443005599209,0.38987440708931953],[-0.52604429897593,0.4026100890056997]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.5883654246697748,0.7506116885241902,0.71338606911949],"aabb_xy":[[-0.6269111174949757,0.7120659174680016],[-0.5498197318445737,0.7891574595803789]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[-0.5067670068745236,-2.272539576111414,0.71338606911949],"aabb_xy":[[-0.5567670082354108,-2.32251748068683],[-0.4567670055136364,-2.2225616715359986]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.14532328264116667,1.1170992626125669,0.71338606911949],"aabb_xy":[[-0.16042558410218472,1.1019977409815045],[-0.13022098118014852,1.1322007842436284]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.24043829652996962,-2.1363400044003424,0.71338606911949],"aabb_xy":[[0.15075122022185417,-2.226340004654793],[0.3301253728380851,-2.046340004145892]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.5721418805722609,-2.436996449285085,0.71338606911949],"aabb_xy":[[0.5634439182815457,-2.4491214235925596],[0.5808398428629763,-2.42487147497761]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[0.007430699280467579,-1.5820799337021396,0.71338606911949],"aabb_xy":[[-0.012853603442931183,-1.6023625588448482],[0.027715002003866337,-1.5617973085594306]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[0.14819679462970525,1.239221987723544,0.71338606911949],"aabb_xy":[[0.09819679505337056,1.1892414087714382],[0.19819679420604,1.2892025666756501]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_30","position":[0.3352444515435158,0.6757609926974593,0.71338606911949],"aabb_xy":[[0.28024897372285634,0.6207609912635523],[0.3902399293641751,0.7307609941313662]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[-0.5855597106873852,1.4135172556589448,0.71338606911949],"aabb_xy":[[-0.6495597129077922,1.3691441715336565],[-0.5215597084669782,1.457890339784233]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_32","position":[-0.0012226931859738999,1.5618394024814282,0.71338606911949],"aabb_xy":[[-0.046394011034142875,1.4978394053368898],[0.043948624662195075,1.6258393996259668]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842980596755551,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2637.png","name":"2637"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7522.png","name":"7522"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":625.8597249285119,"rotation_z_degrees":346.0724551787919,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013888603656329327,0.01316093394058981,0.013528105474519169]},{"name":"camera_2","offset_m":[0.006671488711496407,0.0011906433345564606,0.009035140952472619]},{"name":"camera_3","offset_m":[0.0147634805885048,-0.01016847335077585,-0.00018259087865290027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00048076381424163694,0.00023463869324324982,-0.0006811925073314318],"end_effector_yaw_offset_degrees":0.37577545818951386},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011605008315483055,-0.00011514396284743791,0.0006605624586420076],"end_effector_yaw_offset_degrees":0.6247017703476152},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014557902450502125,0.0002739553796011016,0.0008578185312362969],"end_effector_yaw_offset_degrees":0.2892976596122572}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013732510795354804,-0.0032436773218671878],"position_m":[0.35467325107953546,0.2141563226781328,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037378175113823987,-0.004884881034477082],"position_m":[0.2673621824886176,-0.3431848810344771,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000737396725592955,-0.0023610062655771047],"position_m":[0.302437396725593,0.3749389937344229,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029100866194650445,-0.0012052582062020223],"position_m":[0.3544899133805349,0.06349474179379797,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6712cb474de7caf21cb21e19651611f92fed938a0b89d70d7c5519b55c3dffcc","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7585/tex_ceiling_textures_7522/tex_floor_textures_5850/tex_table_textures_2637/tex_wall_textures_5736","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3170611473520108001,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3170611473520108001,"visual_seed":3170611473520108001,"scene_id":"lab_003","finished_at":"2026-09-04T06:52:45"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T06:52:49","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.2559070706184154,-0.16445178859654463,0.71338606911949],"aabb_xy":[[-0.27358270120701367,-0.18213200487594738],[-0.23823144002981703,-0.14677157231714189]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.600228475180651,-2.5192101045567092,0.71338606911949],"aabb_xy":[[-0.6802284721948989,-2.5393446562301207],[-0.5202284781664029,-2.4990755528832977]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.14010096338990952,-2.0650945848630586,0.71338606911949],"aabb_xy":[[-0.20410096660854737,-2.111817696762067],[-0.07610096017127166,-2.0183714729640503]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.0019428983003775269,-1.854165553807476,0.71338606911949],"aabb_xy":[[-0.05194217346881369,-1.9041655550834236],[0.04805637686805864,-1.8041655525315292]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.22472394493750147,1.5881657601641392,0.71338606911949],"aabb_xy":[[-0.2947239475740878,1.5680608951682737],[-0.1547239423009151,1.6082706251600047]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.03576383356568158,-1.5092783121097866,0.71338606911949],"aabb_xy":[[-0.07326383367127454,-1.5161004739627677],[0.0017361665399113697,-1.5024561502568055]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.4083350101394117,0.6872689260831679,0.71338606911949],"aabb_xy":[[-0.45815178960424646,0.6372689275988646],[-0.35851823067457694,0.7372689245674713]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.3174220279238486,-2.194509955034521,0.71338606911949],"aabb_xy":[[-0.3518843753219903,-2.2290038374323426],[-0.2829596805257067,-2.1600160726366973]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.14847068592312718,-1.8977435423456843,0.71338606911949],"aabb_xy":[[0.11347068761243173,-1.90545855726923],[0.18347068423382262,-1.8900285274221387]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.6155239670045496,-0.14450556541191872,0.71338606911949],"aabb_xy":[[0.5515239637148414,-0.1878404844158363],[0.6795239702942576,-0.1011706464080011]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.3301591348135398,-1.9277860989677058,0.71338606911949],"aabb_xy":[[-0.35265913505705526,-1.9399907336274778],[-0.3076591345700245,-1.9155814643079339]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.17420372786904026,-1.699365181194925,0.71338606911949],"aabb_xy":[[-0.21274942069424133,-1.7379109522511138],[-0.13565803504383925,-1.6608194101387364]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.6075219439519652,0.6886561267628508,0.71338606911949],"aabb_xy":[[0.5700219437800932,0.6559553913799436],[0.6450219441238371,0.721356862145758]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.4494776929097449,-1.4701973813298885,0.71338606911949],"aabb_xy":[[-0.5110684521337376,-1.5341973794389359],[-0.3878869336857521,-1.406197383220842]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.161810475831216,-2.2085416916330423,0.71338606911949],"aabb_xy":[[-0.2258104772392066,-2.260330643156967],[-0.09781047442322528,-2.1567527401091175]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.10651314388233024,-2.309291610947666,0.71338606911949],"aabb_xy":[[0.026513142452203015,-2.3888087659602752],[0.1865131453124574,-2.2297744559350563]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.3468391052932707,0.4679456411266254,0.71338606911949],"aabb_xy":[[-0.35761207921463856,0.43294564290758636],[-0.336066131371903,0.5029456393456644]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.19467992254896205,1.367688749535664,0.71338606911949],"aabb_xy":[[0.19097666121982318,1.363986731226946],[0.19838318387810092,1.3713907678443815]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.557914403672054,-1.4774689765865603,0.71338606911949],"aabb_xy":[[0.5397085800108063,-1.4884943771685522],[0.5761202273333017,-1.4664435760045689]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.08902789024001989,1.4258175761451688,0.71338606911949],"aabb_xy":[[-0.15302789094348923,1.3797991936722478],[-0.025027889536550545,1.4718359586180898]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.5634387681358823,-1.6381731762123681,0.71338606911949],"aabb_xy":[[0.5558145000457042,-1.6458063997489119],[0.5710630362260607,-1.6305399526758244]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.49791848056202537,-0.8006014696228616,0.71338606911949],"aabb_xy":[[-0.534769028499013,-0.8381014704458953],[-0.4610679326250378,-0.7631014687998279]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.32763999516072473,1.7333396618152856,0.71338606911949],"aabb_xy":[[0.32218204952370466,1.6533396585076268],[0.3330979407977448,1.813339665122945]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.31840677102630655,-1.84213906589251,0.71338606911949],"aabb_xy":[[0.2334067723342319,-1.874124929287389],[0.4034067697183812,-1.8101532024976312]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[0.1699496610294684,-0.8759814522969809,0.71338606911949],"aabb_xy":[[0.10994966052161546,-0.9328281859829021],[0.2299496615373213,-0.8191347186110595]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[-0.1743176814413253,-0.581884650106673,0.71338606911949],"aabb_xy":[[-0.23194815032859614,-0.6418846490333835],[-0.11668721255405445,-0.5218846511799623]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827449511889317,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5493.png","name":"5493"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5493.png","name":"5493"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/914.png","name":"914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5056.png","name":"5056"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8153.png","name":"8153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.2533019657224,"rotation_z_degrees":215.73880624129808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-3.2652668004454904e-05,0.017476261462263453,-0.009615333759673233]},{"name":"camera_2","offset_m":[-0.004723597821741556,-0.008987378125461066,-0.01858713778441426]},{"name":"camera_3","offset_m":[-0.004167334266056109,-0.007809909680834077,-0.01769934265243231]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002774687500929911,-0.0008760280161592248,0.001733393304473288],"end_effector_yaw_offset_degrees":0.09203801374994347},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006129351791236532,-0.0010960743488273414,-0.00018828334213208723],"end_effector_yaw_offset_degrees":0.05463378332637725},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016288714664388342,-0.0011332594559605134,0.001853979138166247],"end_effector_yaw_offset_degrees":-0.2535931723783935}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021216405207529964,0.0005033884900573111],"position_m":[0.355421640520753,0.21790338849005733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016142251799061403,0.0035119664912319866],"position_m":[0.2694857748200939,-0.334788033508768,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003632436154603581,-0.004628158559048738],"position_m":[0.3020632436154604,0.3726718414409513,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017818753247360675,0.0037759159826474048],"position_m":[0.35561812467526394,0.06847591598264739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4701040994a0857a2b946ca449be89f2a7a63d19f487a0f2c7fdd1ac5b70ece9","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5493/tex_ceiling_textures_9697/tex_floor_textures_8153/tex_table_textures_914/tex_wall_textures_5056","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5031566460746158633,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5031566460746158633,"visual_seed":5031566460746158633,"scene_id":"lab_003","finished_at":"2026-09-04T06:55:51"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T06:55:54","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[-0.3462777654948834,-1.3605784983955604,0.71338606911949],"aabb_xy":[[-0.41027776260698917,-1.409610868189971],[-0.2822777683827778,-1.3115461286011498]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.10472431168946861,-1.6474509658352687,0.71338606911949],"aabb_xy":[[0.07013322883542338,-1.7124509661202996],[0.1393153945435138,-1.5824509655502375]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.15328044028898768,1.2779726018844593,0.71338606911949],"aabb_xy":[[-0.16838274175000573,1.262871080253397],[-0.13817813882796953,1.2930741235155208]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.27647221590082105,-1.1614690592393988,0.71338606911949],"aabb_xy":[[-0.3014722151727833,-1.1778144228355611],[-0.2514722166288587,-1.1451236956432365]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.01118572400227269,-2.5550095135656394,0.71338606911949],"aabb_xy":[[-0.02707021726759784,-2.5693624538644633],[0.0046987692630524585,-2.5406565732668156]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.40326571080603935,-0.8819280218014836,0.71338606911949],"aabb_xy":[[0.33926570758740143,-0.9286511337004919],[0.46726571402467715,-0.8352049099024752]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.6988145512567054,-1.566745086689878,0.71338606911949],"aabb_xy":[[0.6890585617475314,-1.5765076207491122],[0.7085705407658792,-1.5569825526306433]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.08764164643068684,-2.29148580023123,0.71338606911949],"aabb_xy":[[-0.1251416467789146,-2.3032771958123135],[-0.050141646082459065,-2.2796944046501464]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.04569134835800537,1.71269195173315,0.71338606911949],"aabb_xy":[[-0.060863517639638716,1.697523094804947],[-0.030519179076372034,1.7278608086613536]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.5495968884769151,0.595040981655794,0.71338606911949],"aabb_xy":[[0.537724805465414,0.5100409819621436],[0.5614689714884162,0.6800409813494444]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.24916923026905413,-1.802304053373802,0.71338606911949],"aabb_xy":[[0.18416922931192692,-1.8542522653075075],[0.31416923122618134,-1.7503558414400964]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.07330175963336827,1.5880498721029288,0.71338606911949],"aabb_xy":[[-0.11460630269710426,1.5240498725348117],[-0.03199721656963228,1.6520498716710459]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.3289719507620566,0.5397465246562305,0.71338606911949],"aabb_xy":[[-0.35255707422595145,0.47474652241079873],[-0.30538682729816174,0.6047465269016623]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.4912804354779534,1.3805188733348124,0.71338606911949],"aabb_xy":[[0.4112804385149143,1.303443231691039],[0.5712804324409926,1.4575945149785858]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.39325685466619414,-1.1226732891763511,0.71338606911949],"aabb_xy":[[-0.3976874840210344,-1.1281216609110336],[-0.388826225311354,-1.1172249174416686]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.37799526416109663,1.3116847768753401,0.71338606911949],"aabb_xy":[[-0.4617174896611791,1.2216847733406442],[-0.2942730386610142,1.401684780410036]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.15137670398398984,0.5461270953108217,0.71338606911949],"aabb_xy":[[-0.15747133187210818,0.5375577007591531],[-0.14528207609587154,0.5546964898624905]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.653744853966661,1.0095613324142452,0.71338606911949],"aabb_xy":[[0.6037715599634006,0.9595613318596976],[0.7037181479699215,1.0595613329687923]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.028456028930770816,-0.6921346983782442,0.71338606911949],"aabb_xy":[[-0.036583717124084036,-0.7010483067889518],[-0.0203283407374576,-0.6832210899675365]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.31766367828629327,1.0687745090148306,0.71338606911949],"aabb_xy":[[-0.3826636768433661,1.039021975600948],[-0.25266367972922044,1.0985270424287132]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[-0.62381650318863,1.1830267161667507,0.71338606911949],"aabb_xy":[[-0.687816505409037,1.1386536320414624],[-0.559816500968223,1.227399800292039]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.12817831523105472,-0.964045283531076,0.71338606911949],"aabb_xy":[[-0.17817831651489466,-1.014024137921698],[-0.07817831394721474,-0.9140664291404539]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.11490591409397877,-1.8651061098844097,0.71338606911949],"aabb_xy":[[-0.12737327220371442,-1.8775714345177335],[-0.10243855598424312,-1.8526407852510864]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.40191808013912245,1.5940593972305597,0.71338606911949],"aabb_xy":[[0.3521013006742877,1.5440593987462563],[0.4517348596039572,1.644059395714863]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.17894213745433651,-2.5060479871984187,0.71338606911949],"aabb_xy":[[-0.20143855888820064,-2.528547987005166],[-0.15644571602047244,-2.4835479873916713]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[0.6548000883957479,-0.5696302237277187,0.71338606911949],"aabb_xy":[[0.619800088419252,-0.5790948397753353],[0.6898000883722437,-0.560165607680102]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.1695073462734369,-0.6888468117852156,0.71338606911949],"aabb_xy":[[0.11950734532290405,-0.720395958788737],[0.21950734722396967,-0.6572976647816942]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898944491787694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4508.png","name":"4508"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1120.png","name":"1120"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7979.png","name":"7979"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3451.png","name":"3451"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":813.3797036012762,"rotation_z_degrees":283.4121330185344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00736964133473824,-0.0019335075345048823,0.01520143978064729]},{"name":"camera_2","offset_m":[0.010030296599438972,-0.00454531760490085,-0.013416593000143875]},{"name":"camera_3","offset_m":[0.01923654170263581,0.005709291590680215,-0.01772314165145474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013820200576923104,0.0006634320817530438,-0.00021810991856367908],"end_effector_yaw_offset_degrees":-0.6181023584222469},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003120489308343858,-0.001057387436262218,2.9010722957053918e-05],"end_effector_yaw_offset_degrees":-0.08933996267792033},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00048295589073919397,-0.0013140038149031543,0.0003760214008563679],"end_effector_yaw_offset_degrees":-0.9035525478980979}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008293887791633982,0.002844562117629185],"position_m":[0.3541293887791634,0.2202445621176292,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008466129902619602,0.0049134902912997954],"position_m":[0.27194661299026196,-0.3333865097087002,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002584569851326138,0.004997752433289625],"position_m":[0.3042845698513262,0.3822977524332897,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034998034287308686,0.004546956385835206],"position_m":[0.35390019657126914,0.0692469563858352,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b87432a16694808b1273e8f6c93a3b145919701794832006ba60c6de70562041","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6344/tex_ceiling_textures_3451/tex_floor_textures_7979/tex_table_textures_4508/tex_wall_textures_1120","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5639048609860656007,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5639048609860656007,"visual_seed":5639048609860656007,"scene_id":"lab_003","finished_at":"2026-09-04T06:59:19"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T06:59:22","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.6681442872969638,-1.6483896121071293,0.71338606911949],"aabb_xy":[[0.6555415881598874,-1.6609850083319948],[0.6807469864340403,-1.6357942158822638]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.5352448992665185,-0.4547717579036137,0.71338606911949],"aabb_xy":[[-0.5992449024851565,-0.501494869802622],[-0.4712448960478808,-0.4080486460046054]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.6352356862466031,-1.816649668298997,0.71338606911949],"aabb_xy":[[-0.6565136943900753,-1.88164967062507],[-0.6139576781031308,-1.751649665972924]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.10165483176780754,-0.7139059627550257,0.71338606911949],"aabb_xy":[[-0.16324559099180036,-0.7779059608640726],[-0.040064072543814735,-0.6499059646459788]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.6623198839126421,0.22253620012255038,0.71338606911949],"aabb_xy":[[0.6273198856019466,0.2148211851990047],[0.6973198822233375,0.230251215046096]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.5310696482549822,-2.00662436750717,0.71338606911949],"aabb_xy":[[-0.5391973364482954,-2.0155379759178778],[-0.5229419600616689,-1.9977107590964622]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.17283961601198716,1.325249108763245,0.71338606911949],"aabb_xy":[[0.12283961499285193,1.2887828930254173],[0.22283961703112248,1.3617153245010731]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.36032287878289204,-1.749864852594282,0.71338606911949],"aabb_xy":[[0.3353228792311535,-1.7600073364594166],[0.38532287833463047,-1.7397223687291472]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.4024526911356621,0.3772834903140816,0.71338606911949],"aabb_xy":[[-0.45744816895632145,0.32228348888017466],[-0.3474572133150027,0.4322834917479885]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.05133043082970412,-1.1119466463508623,0.71338606911949],"aabb_xy":[[-0.106304152866037,-1.1669466459150954],[0.0036432912066287557,-1.056946646786629]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.5036434825942423,0.14541360724604457,0.71338606911949],"aabb_xy":[[-0.568643481151315,0.11566107383216195],[-0.43864348403716935,0.1751661406599272]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.535373669917727,-0.9257732614554728,0.71338606911949],"aabb_xy":[[-0.595373670169128,-0.9800545864919373],[-0.47537366966632566,-0.871491936419008]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.4615893481762905,1.106031759685835,0.71338606911949],"aabb_xy":[[0.4515076410977169,1.02603176179372],[0.47167105525486386,1.1860317575779493]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.34842272908386696,-1.5261421965556072,0.71338606911949],"aabb_xy":[[-0.3709191505177311,-1.5486421963623542],[-0.3259263076500029,-1.5036421967488593]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.14174959648771823,-1.3188771960538008,0.71338606911949],"aabb_xy":[[-0.17606587366233617,-1.3688771960269783],[-0.1074333193131003,-1.2688771960806229]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.6118034825506127,0.4874159844444246,0.71338606911949],"aabb_xy":[[0.6057088546624944,0.47884658989275597],[0.617898110438731,0.4959853789960934]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.5576493618368581,-0.21057630719970621,0.71338606911949],"aabb_xy":[[0.48764936542689613,-0.23101424285138786],[0.6276493582468197,-0.1901383715480244]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.141565379123629,-2.072853496162212,0.71338606911949],"aabb_xy":[[0.1318093896144551,-2.082616030221446],[0.15132136863280288,-2.063090962102977]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.5629419246573497,-0.3319796458580515,0.71338606911949],"aabb_xy":[[0.5129419233735096,-0.38195850024867356],[0.6129419259411896,-0.28200079146742935]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.5313601003326369,0.5332795941009185,0.71338606911949],"aabb_xy":[[0.5136844697440385,0.5155993778215155],[0.5490357309212351,0.550959810380321]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.6179357618031545,-1.0225004354124436,0.71338606911949],"aabb_xy":[[0.5681189823383197,-1.0725004338967468],[0.6677525412679892,-0.97250043692814]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.25877319124142073,-0.3668529366660156,0.71338606911949],"aabb_xy":[[-0.27640602683494825,-0.38447588268163846],[-0.24114035564789313,-0.3492299906503925]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.5781854597626296,0.9291391446681421,0.71338606911949],"aabb_xy":[[-0.6167311525878305,0.8905933736119535],[-0.5396397669374284,0.9676849157243307]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[0.17965086486825654,-0.9764545465203647,0.71338606911949],"aabb_xy":[[0.16788267807359902,-1.0614545464255865],[0.1914190516629141,-0.8914545466151432]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.21865560387509714,0.772702157013653,0.71338606911949],"aabb_xy":[[-0.23893990659849587,0.752419531870944],[-0.19837130115169835,0.7929847821563617]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_25","position":[-0.1066068219224664,1.298599371212254,0.71338606911949],"aabb_xy":[[-0.11291892145880485,1.2928324319590354],[-0.10029472238612798,1.3043663104654732]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.5499452346051021,0.7981207371739893,0.71338606911949],"aabb_xy":[[0.5347823616281651,0.7829552798788707],[0.5651081075820392,0.8132861944691082]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.10469078334758763,1.4790891600563225,0.71338606911949],"aabb_xy":[[-0.1846907803106268,1.4020135184125488],[-0.024690786384548455,1.5561648017000957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690326309099348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3036.png","name":"3036"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3036.png","name":"3036"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4424.png","name":"4424"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1421.png","name":"1421"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3955.png","name":"3955"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3793.png","name":"3793"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":618.6841188354333,"rotation_z_degrees":15.695245267282107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009386646644445665,0.0066631753822359585,-0.010246810832126304]},{"name":"camera_2","offset_m":[0.011944816083614865,-0.0053910815598304795,0.008843088356662206]},{"name":"camera_3","offset_m":[-0.017410074950684886,0.0038978124967741883,-0.009381172596493998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009225100719213236,-0.0013923673478865469,0.0010298494734621477],"end_effector_yaw_offset_degrees":-0.5948486731675444},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005062135898748531,0.0015749934909497294,1.0121461169741372e-05],"end_effector_yaw_offset_degrees":-0.729714862977096},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006440570476423202,-0.0012017149312327864,0.00062312351945328],"end_effector_yaw_offset_degrees":-0.08828217599954402}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002804978919176588,0.0017129322455999678],"position_m":[0.3504950210808234,0.21911293224559997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004612673763923677,-0.0022231487571753496],"position_m":[0.26648732623607635,-0.3405231487571753,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003667395125700375,0.004148241986969561],"position_m":[0.3053673951257004,0.3814482419869696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00043072336380917033,-0.0030413127401091103],"position_m":[0.3569692766361908,0.06165868725989088,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b27cd19dec34a2728e29510baebb12176dccd8cb4a1a6e5b5734a971a6666932","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3036/tex_ceiling_textures_3793/tex_floor_textures_3955/tex_table_textures_4424/tex_wall_textures_1421","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3046617891150028010,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3046617891150028010,"visual_seed":3046617891150028010,"scene_id":"lab_003","finished_at":"2026-09-04T07:02:29"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T07:02:33","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.43685702278914196,-0.6548249318293993,0.71338606911949],"aabb_xy":[[0.3940903159097218,-0.7188249352512017],[0.4796237296685622,-0.5908249284075968]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.44845175472938303,0.46504013557673707,0.71338606911949],"aabb_xy":[[-0.4618982813634263,0.4515702839236458],[-0.43500522809533965,0.47850998722982824]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[0.10182722256349619,-0.7944340655797006,0.71338606911949],"aabb_xy":[[0.021827223906610196,-0.8089389245039635],[0.1818272212203822,-0.779929206655438]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.31510145554498803,-1.4235882848900803,0.71338606911949],"aabb_xy":[[0.27010145407875924,-1.468588141751561],[0.36010145701121693,-1.3785884280285996]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.4559782190730346,0.8775620312412329,0.71338606911949],"aabb_xy":[[-0.4646761813637499,0.8654370569337582],[-0.4472802567823193,0.8896870055487076]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.6353978831608162,-1.3703585308238317,0.71338606911949],"aabb_xy":[[0.5978978823688208,-1.3767263717820217],[0.6728978839528117,-1.3639906898656418]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.18665939452303126,-2.2202430841707295,0.71338606911949],"aabb_xy":[[0.1796190845894943,-2.300243083570401],[0.1936997044565683,-2.140243084771058]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[0.4282137979072269,0.7960484183053449,0.71338606911949],"aabb_xy":[[0.4115366619141314,0.7793484943314145],[0.4448909339003224,0.8127483422792751]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.09901408820054203,1.3049915606972942,0.71338606911949],"aabb_xy":[[0.07116905141993492,1.2742070619589825],[0.12685912498114915,1.3357760594356058]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.4238284544289073,-2.0155232884365306,0.71338606911949],"aabb_xy":[[-0.4778440507108073,-2.0795232913287873],[-0.3698128581470073,-1.951523285544273]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.3957942454924628,-0.8050291842854347,0.71338606911949],"aabb_xy":[[-0.4607942464929633,-0.8558155494401095],[-0.33079424449196226,-0.7542428191307596]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.6088781847394251,0.08165781304781072,0.71338606911949],"aabb_xy":[[-0.6291624874628237,0.06137518790510187],[-0.5885938820160261,0.10194043819051955]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.1798663005713831,0.994350346646486,0.71338606911949],"aabb_xy":[[-0.24386630379002094,0.9476272347474777],[-0.11586629735274523,1.0410734585454944]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.4313276427797874,0.16463427706839617,0.71338606911949],"aabb_xy":[[-0.4490032733683857,0.1469540607889934],[-0.413652012191189,0.1823144933477989]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.5787075481780376,1.1723850255638948,0.71338606911949],"aabb_xy":[[-0.6587075514358804,1.0923885177719108],[-0.49870754492019453,1.2523815333558788]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[-0.014006290750879002,-2.29859575954638,0.71338606911949],"aabb_xy":[[-0.03650542647710597,-2.321095760324643],[0.008492844975347968,-2.2760957587681174]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.18598844979182194,-1.2245240147138758,0.71338606911949],"aabb_xy":[[-0.2034884489261891,-1.2344036417514637],[-0.16848845065745477,-1.214644387676288]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[0.44942514560809954,1.2272645522676617,0.71338606911949],"aabb_xy":[[0.42491152151109374,1.2029999589656253],[0.47393876970510546,1.2515291455696982]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.3787731549252964,-1.5958612543611825,0.71338606911949],"aabb_xy":[[0.34127315481970344,-1.6026834162141637],[0.41627315503088935,-1.5890390925082014]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.612800228074302,-0.1568363635774257,0.71338606911949],"aabb_xy":[[-0.6928002250373412,-0.23391200522119915],[-0.5328002311112628,-0.07976072193365225]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.47791078794971364,-0.6414050149591604,0.71338606911949],"aabb_xy":[[-0.5395015471737066,-0.7054050130682074],[-0.4163200287257209,-0.5774050168501136]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.6097948846541839,1.4481233695654683,0.71338606911949],"aabb_xy":[[0.5722948862307834,1.4349591555976373],[0.6472948830775841,1.4612875835332988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858491751347424,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6967.png","name":"6967"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6967.png","name":"6967"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/676.png","name":"676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/940.png","name":"940"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8645.png","name":"8645"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":726.8579850235219,"rotation_z_degrees":222.29847120441266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01119582261669441,0.0014593422218791355,0.00793797917986485]},{"name":"camera_2","offset_m":[-0.01938610147215799,0.018915784661249883,-0.014703409202318217]},{"name":"camera_3","offset_m":[-0.011233248703678532,0.003978859896136121,-0.001380436591974711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012929594003883256,-0.001542351314788271,0.0009504673841877259],"end_effector_yaw_offset_degrees":-0.25484045002162103},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019750123198229606,4.188620678549941e-05,-0.001962459266843812],"end_effector_yaw_offset_degrees":-0.7479867605141874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008917398896748354,-0.00011675020390762873,-0.0011750042855528658],"end_effector_yaw_offset_degrees":-0.9970237696765294}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004207961478394986,0.00010455649217047756],"position_m":[0.357507961478395,0.2175045564921705,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003244643760020924,0.001422894539043579],"position_m":[0.27434464376002093,-0.3368771054609564,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019629451972145375,-0.0017669808289620106],"position_m":[0.2997370548027855,0.37553301917103804,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018792507484413036,0.003492814954435218],"position_m":[0.3592792507484413,0.06819281495443522,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c49ec8f96212101961434d095522365cbbe736cb234a98528989b703f4880ad","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6967/tex_ceiling_textures_8645/tex_floor_textures_5282/tex_table_textures_676/tex_wall_textures_940","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5143692390358831272,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5143692390358831272,"visual_seed":5143692390358831272,"scene_id":"lab_003","finished_at":"2026-09-04T07:05:47"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T07:05:50","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.6170689033785934,-1.1431363204334037,0.71338606911949],"aabb_xy":[[0.5795689021938004,-1.147554543129464],[0.654568904563386,-1.138718097737343]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.6757111161746492,-2.2534642665058287,0.71338606911949],"aabb_xy":[[0.6382111160690561,-2.260286428358809],[0.713211116280242,-2.2466421046528473]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.22662113731541567,-1.560858981182252,0.71338606911949],"aabb_xy":[[0.19162113733891986,-1.5703235972298686],[0.2616211372919115,-1.5513943651346354]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.019400729556317886,1.3460129228184865,0.71338606911949],"aabb_xy":[[-0.02571282909265632,1.3402459835652676],[-0.013088630019979453,1.3517798620717054]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.5583313374015216,0.46067198561379286,0.71338606911949],"aabb_xy":[[-0.6133313356032665,0.42015001898735527],[-0.5033313391997768,0.5011939522402304]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.005701772533051486,0.7614642708471804,0.71338606911949],"aabb_xy":[[-0.0432017728252263,0.7574227954465766],[0.03179822775912333,0.7655057462477839]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[-0.5570193674909583,-0.8553870996247714,0.71338606911949],"aabb_xy":[[-0.6070193669311538,-0.9053550241090875],[-0.5070193680507625,-0.8054191751404549]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.18828345379938338,0.41847419909626193,0.71338606911949],"aabb_xy":[[-0.19556577017604695,0.3284741954867529],[-0.18100113742271964,0.5084742027057708]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.34398555374717604,-1.962042249172438,0.71338606911949],"aabb_xy":[[-0.4339855534703501,-1.9851156017076177],[-0.25398555402400175,-1.938968896637258]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.26079884069989934,0.37339507451426623,0.71338606911949],"aabb_xy":[[-0.2687923304951814,0.36539694257379063],[-0.25280535090461737,0.381393206454742]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.6444069140802517,-0.03253665804747685,0.71338606911949],"aabb_xy":[[0.5804069133767824,-0.07855504052039786],[0.7084069147837211,0.013481724425444163]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[0.40318140050451,-2.1499419218245013,0.71338606911949],"aabb_xy":[[0.3832903606241698,-2.1625977331091986],[0.4230724403848503,-2.137286110539805]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[-0.024849015194072566,0.23022565559483033,0.71338606911949],"aabb_xy":[[-0.03247328328425081,0.22259243205828663],[-0.017224747103894322,0.23785887913137407]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.3578566531312901,-2.5360102140016134,0.71338606911949],"aabb_xy":[[0.3228566539384718,-2.5469772599992755],[0.3928566523241083,-2.5250431680039505]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.3372337524809672,0.3764164165563919,0.71338606911949],"aabb_xy":[[-0.34281542411509597,0.36391641673861636],[-0.33165208084683845,0.38891641637416735]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.08827819338888898,1.8272532285204055,0.71338606911949],"aabb_xy":[[0.05994848344034877,1.8227924863266884],[0.11660790333742922,1.8317139707141226]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.5790741737089162,-1.846895683290656,0.71338606911949],"aabb_xy":[[0.5545605496119104,-1.8711602765926925],[0.6035877978059221,-1.8226310899886196]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.49894266273830534,-0.34600466655378925,0.71338606911949],"aabb_xy":[[0.4349426654526567,-0.3875113855066332],[0.562942660023954,-0.3044979476009453]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.01961799059163405,-2.294865909587079,0.71338606911949],"aabb_xy":[[-0.08961799240037949,-2.3162196783512665],[0.05038201121711139,-2.2735121408228918]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.5893444373334344,-0.6791366611730283,0.71338606911949],"aabb_xy":[[-0.6393444386943217,-0.7291145657484439],[-0.5393444359725472,-0.6291587565976127]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.5502873881899772,-2.4142931738040634,0.71338606911949],"aabb_xy":[[-0.6202873845999388,-2.4347311094557447],[-0.4802873917800153,-2.393855238152381]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.5605240933480925,1.6927923732989059,0.71338606911949],"aabb_xy":[[-0.5830205147819566,1.6702923734921584],[-0.5380276719142284,1.7152923731056533]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822243164178025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4186.png","name":"4186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9764.png","name":"9764"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8657.png","name":"8657"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6514.png","name":"6514"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":798.3569337768197,"rotation_z_degrees":213.05092382218928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008318739464113758,-0.001734056237590112,-0.007378038506295068]},{"name":"camera_2","offset_m":[-0.003153633627291045,-0.001486069500784882,-0.0006855684441619478]},{"name":"camera_3","offset_m":[-0.004196358921709439,-0.008712059295712242,-0.014213986887168045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001969088101992227,0.0016191905786361702,-0.0013746829890096705],"end_effector_yaw_offset_degrees":0.9619362589122751},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014295110040860792,0.001433870052884409,0.0019520833967498485],"end_effector_yaw_offset_degrees":0.8690322107491113},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006549791301631331,-0.0017163495462451071,0.0016102329576211031],"end_effector_yaw_offset_degrees":0.45632302356176724}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00449658157382341,0.0005548897701883691],"position_m":[0.34880341842617657,0.21795488977018837,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038972649816243665,-0.0002716490636514345],"position_m":[0.26720273501837566,-0.33857164906365145,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012550864109406213,-0.003104053694206573],"position_m":[0.3004449135890594,0.37419594630579345,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036962711447585004,0.0034445852693729137],"position_m":[0.3610962711447585,0.0681445852693729,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"098e8277cf3b6e34bf070fe088ffccbd264f722a2811d65c6a0d7b31bc255fef","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_50/tex_ceiling_textures_6514/tex_floor_textures_8657/tex_table_textures_4186/tex_wall_textures_9764","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1559421049087512487,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1559421049087512487,"visual_seed":1559421049087512487,"scene_id":"lab_003","finished_at":"2026-09-04T07:09:01"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T07:09:05","dimensions":{"distractor":{"count":28,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.5321274851240037,1.2975438771187333,0.71338606911949],"aabb_xy":[[-0.5706731779492046,1.2589981060625446],[-0.4935817922988025,1.336089648174922]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.30772172705630113,1.6902394943691674,0.71338606911949],"aabb_xy":[[-0.3628469326858918,1.6302394929278803],[-0.25259652142671024,1.7502394958104546]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.6247560288869785,-1.493084054968186,0.71338606911949],"aabb_xy":[[-0.6334699979369127,-1.515584055627374],[-0.6160420598370437,-1.4705840543089976]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.46535606426529585,-1.1101786561651765,0.71338606911949],"aabb_xy":[[0.38535606100128267,-1.1237386884740899],[0.545356067529309,-1.0966186238562632]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.5266773869474133,0.6420907473749895,0.71338606911949],"aabb_xy":[[-0.5906773873249469,0.5923454805241771],[-0.46267738656987967,0.6918360142258017]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[-0.29763909325995946,0.576364327019173,0.71338606911949],"aabb_xy":[[-0.3351390934318314,0.5436635916362657],[-0.2601390930880875,0.60906506240208]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.14284655737368468,0.9110214578844236,0.71338606911949],"aabb_xy":[[0.13492327713493635,0.8885214576464202],[0.150769837612433,0.9335214581224269]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.4303247191197192,0.34536389146213287,0.71338606911949],"aabb_xy":[[-0.4494370264776981,0.3262291125848909],[-0.4112124117617404,0.36449867033937494]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.230154528171714,-1.1616551370035695,0.71338606911949],"aabb_xy":[[-0.30015452458167574,-1.182093072655251],[-0.16015453176175218,-1.1412172013518875]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[0.049324083565608245,0.7384042433678717,0.71338606911949],"aabb_xy":[[0.0015179159518395944,0.6734042406608127],[0.09713025117937688,0.8034042460749306]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.5091199940700595,-0.045295195347466954,0.71338606911949],"aabb_xy":[[-0.546619993887093,-0.04993340665860882],[-0.4716199942530259,-0.04065698403632509]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.027448986098816186,-2.3013287750459894,0.71338606911949],"aabb_xy":[[-0.02252407943369928,-2.3513287748585228],[0.07742205163133166,-2.251328775233457]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.05293479079740804,-1.966384195682954,0.71338606911949],"aabb_xy":[[-0.02706520660618539,-2.0463767668811363],[0.13293478820100144,-1.886391624484771]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.49349496994136377,1.2617619062598888,0.71338606911949],"aabb_xy":[[0.4584949700453449,1.2533876707479488],[0.5284949698373826,1.2701361417718289]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.5063073579242854,-0.12675322321877225,0.71338606911949],"aabb_xy":[[0.4971474789804088,-0.13328444126230926],[0.515467236868162,-0.12022200517523524]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.6105318166559441,-1.9733519244809101,0.71338606911949],"aabb_xy":[[0.5749026607559844,-2.008984591237763],[0.6461609725559039,-1.9377192577240572]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.3967644632295193,-2.2259582425099333,0.71338606911949],"aabb_xy":[[0.3417712518923825,-2.280958242848727],[0.45175767456665605,-2.1709582421711398]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.6017440159740857,0.9387410708625676,0.71338606911949],"aabb_xy":[[-0.6467440174403145,0.8937412140010871],[-0.5567440145078568,0.9837409277240484]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.34201036520180805,-0.6558204857096199,0.71338606911949],"aabb_xy":[[0.29201036418267284,-0.692286701447448],[0.39201036622094343,-0.6193542699717921]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.3498807696066231,-0.8075481179221644,0.71338606911949],"aabb_xy":[[-0.41988077141536856,-0.8289018866863519],[-0.2798807677978777,-0.7861943491579771]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[0.1418592877501028,-1.6790855869798897,0.71338606911949],"aabb_xy":[[0.119969540161162,-1.7690855842691389],[0.16374903533904359,-1.5890855896906406]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.392348883564982,-1.9197391205501377,0.71338606911949],"aabb_xy":[[0.33075812434098917,-1.9837391186591848],[0.4539396427889748,-1.855739122441091]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.035330047464716574,-0.858308825150538,0.71338606911949],"aabb_xy":[[-0.05779481743612169,-0.8808088260293984],[-0.012865277493311456,-0.8358088242716774]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.4971999546446293,-1.4518696665168163,0.71338606911949],"aabb_xy":[[-0.5611999510402024,-1.5158329549355498],[-0.4331999582490562,-1.3879063780980827]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.1668390915873541,1.1220940989188675,0.71338606911949],"aabb_xy":[[-0.19205992844719375,1.0968703480659805],[-0.1416182547275144,1.147317849771754]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[-0.46989637090524683,-1.6564120220667573,0.71338606911949],"aabb_xy":[[-0.519779067782943,-1.706412021313032],[-0.42001367402755063,-1.6064120228204826]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[-0.05831715362964174,1.43904132241541,0.71338606911949],"aabb_xy":[[-0.14831715304801263,1.40566582557122],[0.03168284578872916,1.4724168192595994]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[0.626051951302784,0.6217832150012246,0.71338606911949],"aabb_xy":[[0.6108797820211507,0.6066143580730212],[0.6412241205844174,0.6369520719294279]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6886215553678678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5083.png","name":"5083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2676.png","name":"2676"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3312.png","name":"3312"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":743.6854174922337,"rotation_z_degrees":219.6431669409101,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009041515607845328,-0.013635710733056982,0.007850588880449684]},{"name":"camera_2","offset_m":[-0.016266177350591327,-0.011556709332419849,-0.008741805500421869]},{"name":"camera_3","offset_m":[0.008791307903889729,-0.016859048574904837,0.01056755390026317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009456628713073933,0.0019017030141750056,-0.001440690507884337],"end_effector_yaw_offset_degrees":-0.40655847421356506},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015950260045599247,-0.0011362034133729488,0.0016466243186709934],"end_effector_yaw_offset_degrees":0.9897973369426627},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005158798204147174,-0.001174169710881009,0.0006965305010755815],"end_effector_yaw_offset_degrees":-0.8117793373847819}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018485426601443766,0.003096549238850132],"position_m":[0.3514514573398556,0.22049654923885015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019998426329629216,0.0030430213598670727],"position_m":[0.2691001573670371,-0.33525697864013293,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001411035841299005,0.004463506397017948],"position_m":[0.303111035841299,0.38176350639701795,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002995820867400243,0.0029506898624431952],"position_m":[0.35440417913259975,0.06765068986244319,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b81193386d06191966927996c896f9ff04ba0efddc4ddbbe1f0d635873d8d7c2","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4947/tex_ceiling_textures_6468/tex_floor_textures_3312/tex_table_textures_5083/tex_wall_textures_2676","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6599863555647287634,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6599863555647287634,"visual_seed":6599863555647287634,"scene_id":"lab_003","finished_at":"2026-09-04T07:12:06"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T07:12:13","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.0449903273634803,0.9000365846851688,0.71338606911949],"aabb_xy":[[-0.04988961967004378,0.8723596653825999],[-0.04009103505691679,0.9277135039877374]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.21050253231215954,0.950923230883733,0.71338606911949],"aabb_xy":[[-0.21646907125289533,0.944962086224369],[-0.20453599337142375,0.956884375543097]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.6536922279223789,-0.7956931304011317,0.71338606911949],"aabb_xy":[[0.628692227989861,-0.802575798622055],[0.6786922278548968,-0.7888104621802083]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[0.42495243399551286,-2.373891401296773,0.71338606911949],"aabb_xy":[[0.4148707269169393,-2.4538913991888873],[0.4350341410740863,-2.293891403404658]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.5346200920954527,-0.470076680929572,0.71338606911949],"aabb_xy":[[-0.5721200936110844,-0.48130345394571705],[-0.497120090579821,-0.45884990791342695]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.6089035069692577,1.7275438811432822,0.71338606911949],"aabb_xy":[[0.6054628307292005,1.7236824481689177],[0.6123441832093148,1.7314053141176466]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.6032135842207198,-2.1413749170297565,0.71338606911949],"aabb_xy":[[0.5688973070461019,-2.191374917002934],[0.6375298613953377,-2.0913749170565787]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.3066229038855033,-2.445402868589851,0.71338606911949],"aabb_xy":[[0.27797357152508706,-2.474048427866926],[0.3352722362459195,-2.4167573093127745]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.14418602051645157,0.7377973351627043,0.71338606911949],"aabb_xy":[[-0.16168595395043495,0.7202973352424696],[-0.1266860870824682,0.7552973350829387]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.27936224956490197,-1.6125430501687728,0.71338606911949],"aabb_xy":[[-0.31284141682594296,-1.6460221635398797],[-0.24588308230386108,-1.5790639367976658]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.40803292931092927,-2.1699566544004565,0.71338606911949],"aabb_xy":[[0.3905329290515927,-2.184048196589229],[0.42553292957026595,-2.155865112211684]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.6434808483321222,1.288702024243288,0.71338606911949],"aabb_xy":[[0.6201990061339907,1.20370202294606],[0.6667626905302534,1.3737020255405161]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.050346597461831344,-2.0408702333362227,0.71338606911949],"aabb_xy":[[-0.02965340470093114,-2.1208254169623664],[0.13034659962459383,-1.9609150497100791]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.6107613160198317,1.0690151614723225,0.71338606911949],"aabb_xy":[[0.5882648945859676,1.046515161665575],[0.6332577374536958,1.09151516127907]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.5004615985593708,-0.5533378845207597,0.71338606911949],"aabb_xy":[[0.4526554309456021,-0.6183378872278187],[0.5482677661731394,-0.48833788181370075]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.5582109607237641,-1.2758917311791524,0.71338606911949],"aabb_xy":[[-0.6222109598935339,-1.322658418298115],[-0.4942109615539941,-1.22912504406019]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.20816897653668875,-1.5971474125466594,0.71338606911949],"aabb_xy":[[0.1581697013682526,-1.6471474138226068],[0.2581682517051249,-1.5471474112707124]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[0.6878266583622725,0.32792079746296965,0.71338606911949],"aabb_xy":[[0.6528266600515771,0.32020578253942394],[0.722826656672968,0.33563581238651524]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[0.578042838697765,0.6310194430841083,0.71338606911949],"aabb_xy":[[0.5280598885102855,0.5810194434415477],[0.6280257888852442,0.6810194427266685]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.3033761547963969,-0.5865819292117123,0.71338606911949],"aabb_xy":[[0.23937615441886323,-0.6363271960625244],[0.36737615517393046,-0.5368366623608999]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.42171692442901176,1.7728784816672687,0.71338606911949],"aabb_xy":[[0.3317169247058375,1.7498051291320886],[0.5117169241521858,1.7959518342024483]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.42660470977961973,0.9350755077945556,0.71338606911949],"aabb_xy":[[0.416193151099136,0.9297297744586571],[0.43701626846010344,0.9404212411304541]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.1459356445000085,0.7773759810474137,0.71338606911949],"aabb_xy":[[0.11093564530719019,0.7664089350497509],[0.18093564369282672,0.7883430270450762]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[-0.5305153925272641,1.1122792021968806,0.71338606911949],"aabb_xy":[[-0.5360970641613929,1.0997792023791049],[-0.5249337208931353,1.1247792020146559]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.11196668572362922,1.7399163004253633,0.71338606911949],"aabb_xy":[[0.07446668453883641,1.7354980777293025],[0.149466686908422,1.7443345231214236]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.1837690080203186,0.3778814492520488,0.71338606911949],"aabb_xy":[[-0.24376900861633477,0.32306897670682533],[-0.12376900742430241,0.4326939217972723]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.5872825540780517,-2.414855144248153,0.71338606911949],"aabb_xy":[[-0.6285313651079664,-2.46985514376037],[-0.5460337430481369,-2.3598551447359353]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.16527263553599558,1.2537790844682264,0.71338606911949],"aabb_xy":[[0.12877681490871684,1.2172951420414688],[0.20176845616327432,1.290263026894984]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[-0.3484235430624086,-0.3308675058332029,0.71338606911949],"aabb_xy":[[-0.3599925238093452,-0.35586750595013456],[-0.33685456231547206,-0.30586750571627114]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[-0.593588272890642,-0.7686244044505934,0.71338606911949],"aabb_xy":[[-0.6785882715827166,-0.8006102678454722],[-0.5085882741985673,-0.7366385410557145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836139192188002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/934.png","name":"934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6658.png","name":"6658"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6846.png","name":"6846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7168.png","name":"7168"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":711.6183696731916,"rotation_z_degrees":164.51768557968626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013515085898443559,0.016967357280625917,0.0038715499628718536]},{"name":"camera_2","offset_m":[0.013971125221852686,0.005225545211801137,0.016073172731203688]},{"name":"camera_3","offset_m":[-0.0007191289202871515,0.015480062045537871,-0.010911178113444872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000817124936088269,3.237687311987824e-06,-0.0010335651452813878],"end_effector_yaw_offset_degrees":0.20160929825209672},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015136113073094682,-0.0002454755164697487,8.952804738249611e-05],"end_effector_yaw_offset_degrees":-0.35894140901797544},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001567079622544694,-0.0010519644418714514,0.0012352102409153762],"end_effector_yaw_offset_degrees":-0.46817942691781034}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023978148644019314,0.004338809209193546],"position_m":[0.35090218513559807,0.22173880920919356,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004681821455181339,-0.004109925541074656],"position_m":[0.2664181785448187,-0.34240992554107463,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004398268163530849,-0.0031556470512312954],"position_m":[0.3021398268163531,0.37414435294876874,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004513086094558941,0.0004426669904815106],"position_m":[0.3619130860945589,0.0651426669904815,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1eef105be8678c57eeb278fc31b65fd68c7f8863e1acfa68543a90ef309ceda7","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4693/tex_ceiling_textures_7168/tex_floor_textures_6846/tex_table_textures_934/tex_wall_textures_6658","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2408506868928572815,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2408506868928572815,"visual_seed":2408506868928572815,"scene_id":"lab_003","finished_at":"2026-09-04T07:15:24"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T07:15:28","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.2669359741816074,-0.4565096482575566,0.71338606911949],"aabb_xy":[[-0.3269359750424201,-0.5079360782640427],[-0.20693597332079453,-0.4050832182510701]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.37420166289958945,1.3529635063971006,0.71338606911949],"aabb_xy":[[0.33740702977468323,1.3160576313005183],[0.4109962960244958,1.3898693814936829]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.6594125008023641,-0.49496233470873685,0.71338606911949],"aabb_xy":[[0.6244125025322441,-0.502036462403725],[0.6944124990724839,-0.48788820701374863]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.47353254343895057,-1.7352097975646528,0.71338606911949],"aabb_xy":[[0.42354830773077334,-1.7852097963781481],[0.5235167791471278,-1.685209798751157]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.6297378519757297,-2.4589490975765838,0.71338606911949],"aabb_xy":[[0.6121050163822022,-2.4765720435922067],[0.6473706875692573,-2.4413261515609608]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.30410757244275655,-1.5080415273330248,0.71338606911949],"aabb_xy":[[-0.34541211550649253,-1.5720415269011419],[-0.26280302937902056,-1.4440415277649077]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.23167588781773385,-1.7697781366220084,0.71338606911949],"aabb_xy":[[0.18185910835289906,-1.8197781351063118],[0.2814926672825686,-1.719778138137705]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[0.422943896445481,-1.936614353199717,0.71338606911949],"aabb_xy":[[0.4188279463334083,-1.9407299082325624],[0.42705984655755364,-1.9324987981668713]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.5416934854899194,0.32788054681162926,0.71338606911949],"aabb_xy":[[0.5204154773464471,0.26288054448555614],[0.5629714936333916,0.39288054913770226]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.1441137165519233,0.9981656670913637,0.71338606911949],"aabb_xy":[[-0.2091137175524238,0.9473793019366886],[-0.07911371555142277,1.0489520322460386]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.2679860335569406,-0.49106869013281296,0.71338606911949],"aabb_xy":[[0.24910164978843047,-0.5099546149131657],[0.2868704173254509,-0.47218276535246023]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[0.5168196790753226,-1.3344742835120977,0.71338606911949],"aabb_xy":[[0.49431967883180716,-1.34667891817187],[0.539319679318838,-1.322269648852326]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.7044798941451651,-0.127176533370986,0.71338606911949],"aabb_xy":[[0.696776703471088,-0.134885904069724],[0.712183084819242,-0.119467162672248]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[0.03371783854594168,1.7478453987727502,0.71338606911949],"aabb_xy":[[-0.01626511164153765,1.6978453991301894],[0.083700788733421,1.7978453984153102]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.010821286730105295,-2.06255891375811,0.71338606911949],"aabb_xy":[[-0.07082128837302715,-2.1145590630500544],[0.04917871491281656,-2.010558764466166]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.0324781078919637,0.7027463891670567,0.71338606911949],"aabb_xy":[[-0.0315218923685071,0.6577375898141286],[0.0964781081524345,0.7477551885199846]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.08218863472428739,-2.5511797640278,0.71338606911949],"aabb_xy":[[0.0021886367435023503,-2.5587813049896515],[0.16218863270507244,-2.5435782230659476]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.5980396300987646,-1.6749035844233338,0.71338606911949],"aabb_xy":[[-0.6580396306066174,-1.7317503181092548],[-0.5380396295909116,-1.6180568507374122]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.010158947266750484,-1.5226548025255218,0.71338606911949],"aabb_xy":[[-0.07984104946885973,-1.575838265842816],[0.1001589440023607,-1.469471339208227]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.33121627068317694,0.5870436354906499,0.71338606911949],"aabb_xy":[[0.3000693518395938,0.5170436368038427],[0.36236318952676005,0.657043634177457]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.23459969445753626,0.6842856303880072,0.71338606911949],"aabb_xy":[[-0.29859969085310933,0.6203223419692736],[-0.17059969806196318,0.7482489188067407]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.6375374976017233,1.0895118573785685,0.71338606911949],"aabb_xy":[[-0.69253070893886,1.034511857039775],[-0.5825442862645865,1.1445118577173623]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.2074383197526506,-2.1474444204058623,0.71338606911949],"aabb_xy":[[0.18526579277599975,-2.169620087561985],[0.2296108467293014,-2.1252687532497387]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.4992192762821238,0.744124883818865,0.71338606911949],"aabb_xy":[[-0.5692192778844033,0.7306920906172074],[-0.42921927467984433,0.7575576770205226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892761236258178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7179.png","name":"7179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7179.png","name":"7179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9737.png","name":"9737"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6953.png","name":"6953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6084.png","name":"6084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4459.png","name":"4459"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":842.0705205795512,"rotation_z_degrees":154.50989508369764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004417923441978354,-0.011478748423218402,-0.011329766947232946]},{"name":"camera_2","offset_m":[0.008520811744598584,0.005141643589980323,-0.009355888075272021]},{"name":"camera_3","offset_m":[-0.017793060974650818,0.014872790625600828,0.015215039410294073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014938242795102447,0.0007660696448295642,0.001187438060598677],"end_effector_yaw_offset_degrees":-0.9142358842525335},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009789722824056564,0.001399945742561214,5.331414933033851e-05],"end_effector_yaw_offset_degrees":0.3119813595499239},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00034881537713503646,0.0006646714960993924,-0.0002720541766565892],"end_effector_yaw_offset_degrees":-0.315004184377484}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004719785266747387,-0.0038608727349419784],"position_m":[0.3485802147332526,0.21353912726505803,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004600654375673943,0.0006956559310722314],"position_m":[0.2757006543756739,-0.33760434406892775,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003968360218406189,0.001787722422636401],"position_m":[0.3056683602184062,0.37908772242263644,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029459632164982796,0.003614568069058708],"position_m":[0.35445403678350174,0.0683145680690587,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"afc4d2b6b87c85ce1140cf694e65efe800c7d4a41d3d026f2d8bc2d2573f712e","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7179/tex_ceiling_textures_4459/tex_floor_textures_6084/tex_table_textures_9737/tex_wall_textures_6953","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6075610944193057719,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6075610944193057719,"visual_seed":6075610944193057719,"scene_id":"lab_003","finished_at":"2026-09-04T07:18:33"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T07:18:37","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.5507950821689584,1.0714256053676325,0.71338606911949],"aabb_xy":[[-0.6002755033829172,1.0074256074547807],[-0.5013146609549997,1.1354256032804844]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.0028124896696152257,-1.9138737264603929,0.71338606911949],"aabb_xy":[[-0.03781248886243349,-1.924840772458055],[0.03218750952320304,-1.90290668046273]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.3980888112384571,-2.1513163360683296,0.71338606911949],"aabb_xy":[[0.3080888075615388,-2.2127487426454335],[0.4880888149153751,-2.089883929491225]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.5892313158906399,-1.43947089424936,0.71338606911949],"aabb_xy":[[0.5842752957057589,-1.461970894451482],[0.5941873360755212,-1.4169708940472387]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.1280749670610255,1.4009822745681118,0.71338606911949],"aabb_xy":[[0.11020585930656998,1.3871493665909007],[0.14594407481548097,1.4148151825453228]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.6424690911833179,-1.7845488000317764,0.71338606911949],"aabb_xy":[[-0.6571124967373507,-1.7992075196885606],[-0.6278256856292848,-1.7698900803749922]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.006016567868817102,-1.380555507213821,0.71338606911949],"aabb_xy":[[-0.04351656797441005,-1.3873776690668018],[0.03148343223677585,-1.3737333453608396]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.34642264665149347,0.688720659425103,0.71338606911949],"aabb_xy":[[0.3288759517353745,0.6512206578608517],[0.36396934156761235,0.7262206609893542]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.6523352416987743,-2.4076473545360426,0.71338606911949],"aabb_xy":[[-0.6712196254672845,-2.4265332793163954],[-0.6334508579302641,-2.38876142975569]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.3221620771660625,-2.344434540353375,0.71338606911949],"aabb_xy":[[-0.3391721744561131,-2.360569028851649],[-0.3051519798760118,-2.328300051855101]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.0643048328951078,-1.5615707320779841,0.71338606911949],"aabb_xy":[[0.014304833318773094,-1.6115513110300903],[0.11430483247144253,-1.5115901531258784]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.4336867391968309,0.115625697655382,0.71338606911949],"aabb_xy":[[-0.4711867390138644,0.11098748634424012],[-0.39618673937979726,0.12026390896652385]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.5545745333128922,-1.5286430200550052,0.71338606911949],"aabb_xy":[[-0.6442616096210076,-1.6186430203094557],[-0.46488745700477674,-1.4386430198005546]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.48816512606925794,-1.8305765431837469,0.71338606911949],"aabb_xy":[[-0.5457955949565285,-1.890576542110457],[-0.4305346571819869,-1.7705765442570358]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.5272726022422582,1.755643741663095,0.71338606911949],"aabb_xy":[[0.477288366534081,1.705643742849599],[0.5772568379504355,1.8056437404765902]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.16704261449480884,-2.457652414254914,0.71338606911949],"aabb_xy":[[-0.21704261615630355,-2.5076508565106166],[-0.11704261283331403,-2.407653971999211]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.21238650987408303,-0.7201628391706807,0.71338606911949],"aabb_xy":[[-0.2177240855400876,-0.7451628400998205],[-0.20704893420807846,-0.6951628382415409]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.41346002558376593,-0.906050182986891,0.71338606911949],"aabb_xy":[[0.3634867315805055,-0.9560501835414381],[0.4634333195870264,-0.8560501824323434]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.11400208241166498,-0.7340034181029127,0.71338606911949],"aabb_xy":[[0.024002083817195055,-0.7502540044163338],[0.20400208100613493,-0.7177528317894918]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.5571922397075275,0.8614076111196232,0.71338606911949],"aabb_xy":[[0.5464192657861597,0.8264076129005842],[0.5679652136288953,0.8964076093386621]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.16190151387543972,0.6834206369225382,0.71338606911949],"aabb_xy":[[-0.19538068113648066,0.6499415235514313],[-0.12842234661439877,0.7168997502936453]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.4407163344992297,-0.2983192685991103,0.71338606911949],"aabb_xy":[[-0.5107163371358161,-0.31842413359497573],[-0.37071633186264336,-0.27821440360324473]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[0.033927335962298355,1.0460395781309746,0.71338606911949],"aabb_xy":[[-0.0035726645350598954,1.042070894582856],[0.0714273364596566,1.0500082616790931]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.6532921749120428,-0.5605144801632211,0.71338606911949],"aabb_xy":[[-0.6758058667354999,-0.6305144807642286],[-0.6307784830885855,-0.4905144795622135]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.17184134361111547,0.021485233230145173,0.71338606911949],"aabb_xy":[[-0.17580182738084982,0.013817368644624572],[-0.16788085984138107,0.029153097815665774]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[0.22839671917697735,-0.5904560211263399,0.71338606911949],"aabb_xy":[[0.19393424116388958,-0.5971196983092627],[0.2628591971900651,-0.5837923439434171]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[-0.06623971440490961,1.5838247685148983,0.71338606911949],"aabb_xy":[[-0.08373971466424625,1.5697332263261259],[-0.048739714145573,1.5979163107036711]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[0.5418910035910098,-1.8414789994218326,0.71338606911949],"aabb_xy":[[0.4778910028875406,-1.887497381894754],[0.6058910042944793,-1.795460616948912]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[0.564609712947659,-0.9094247260089321,0.71338606911949],"aabb_xy":[[0.559151767310639,-0.9894247293165912],[0.5700676585846791,-0.829424722701273]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.7061728357680115,-2.2821546663024295,0.71338606911949],"aabb_xy":[[0.6935460484808151,-2.2917007400040026],[0.7187996230552078,-2.2726085926008563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872674070291751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4724.png","name":"4724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4724.png","name":"4724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2345.png","name":"2345"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3273.png","name":"3273"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2604.png","name":"2604"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.249732996495,"rotation_z_degrees":15.382394786585394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-4.684298840002682e-05,0.005758992596170531,-0.019331371816448284]},{"name":"camera_2","offset_m":[0.006261587701208278,-0.00023216344572486378,0.011036876798669954]},{"name":"camera_3","offset_m":[-0.0070621985199273134,-0.010572032843841006,0.013277285274710147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017925656786670625,0.0010814106959149868,-0.0009517282281318322],"end_effector_yaw_offset_degrees":-0.6297704456390087},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010040127189230182,-0.0013033246390263607,-0.0016694564440988314],"end_effector_yaw_offset_degrees":-0.38415760224140905},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016314362100342665,0.00028245630935150355,-0.00022861915321491558],"end_effector_yaw_offset_degrees":0.05034801998817384}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002636715411403239,0.0010352758307944146],"position_m":[0.35593671541140326,0.21843527583079442,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003856355567388242,-0.00037727290142855995],"position_m":[0.27495635556738823,-0.33867727290142857,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006461074995690605,0.0029968233764536547],"position_m":[0.30105389250043096,0.38029682337645365,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048425294652880485,-0.0033734737692216136],"position_m":[0.36224252946528807,0.06132652623077838,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b9abed7ac63d65daa2d3b4337e3e347af2d85c0f2d0c2b483c15febc2a14282","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4724/tex_ceiling_textures_2604/tex_floor_textures_5807/tex_table_textures_2345/tex_wall_textures_3273","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2825053450924839090,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2825053450924839090,"visual_seed":2825053450924839090,"scene_id":"lab_003","finished_at":"2026-09-04T07:21:50"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T07:21:53","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.620882594845916,-2.0161519436075803,0.71338606911949],"aabb_xy":[[0.6112509586254864,-2.0257892563872892],[0.6305142310663456,-2.0065146308278714]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.33313956751296175,-0.985562654183622,0.71338606911949],"aabb_xy":[[-0.3971395666827317,-1.0323293413025847],[-0.2691395683431918,-0.9387959670646597]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.25968835377467686,-1.5279446202658529,0.71338606911949],"aabb_xy":[[-0.33968835117827023,-1.6079371914640355],[-0.1796883563710834,-1.4479520490676698]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.09185966213507901,-0.7100149843537924,0.71338606911949],"aabb_xy":[[-0.14183295613833946,-0.7600149849083397],[-0.04188636813181856,-0.6600149837992451]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.6134398926504834,0.012891422099372996,0.71338606911949],"aabb_xy":[[0.5334398893926403,-0.06710508569261098],[0.6934398959083262,0.09288792989135697]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[0.5564360747227879,1.2031293431809713,0.71338606911949],"aabb_xy":[[0.5205225702977982,1.1672158349642165],[0.5923495791477775,1.2390428513977256]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.357963815258929,-2.253610984593849,0.71338606911949],"aabb_xy":[[-0.43796381633204934,-2.2633890309312332],[-0.2779638141858087,-2.2438329382564643]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.06418325462328978,1.294907084987483,0.71338606911949],"aabb_xy":[[-0.15418325321775972,1.278656498674062],[0.025816743971180167,1.311157671300904]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.22805655878233455,-0.9317563416965466,0.71338606911949],"aabb_xy":[[0.2110464614922839,-0.9478908301948207],[0.2450666560723852,-0.9156218531982728]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.4991602043671399,-1.5550214293931823,0.71338606911949],"aabb_xy":[[-0.5167930399606675,-1.5726443754088053],[-0.48152736877361235,-1.5373984833775594]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.13751252345767395,-1.703998466094804,0.71338606911949],"aabb_xy":[[0.08349692717577395,-1.767998468987061],[0.19152811973957395,-1.6399984632025466]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.20284988242040158,-1.8688480589075225,0.71338606911949],"aabb_xy":[[-0.2928498821435757,-1.8919214114427023],[-0.11284988269722739,-1.8457747063723426]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.24317449769454275,0.5278876877556042,0.71338606911949],"aabb_xy":[[-0.2583466669761761,0.512718830827401],[-0.2280023284129094,0.5430565446838077]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.28026540489501167,-2.032253070873469,0.71338606911949],"aabb_xy":[[-0.28522142507989295,-2.0547530710755906],[-0.2753093847101305,-2.009753070671348]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.5918581395738463,-1.0205296509414339,0.71338606911949],"aabb_xy":[[0.5562289836738865,-1.0561623176982868],[0.627487295473806,-0.9848969841845809]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.3185653917492901,-2.0534772156636363,0.71338606911949],"aabb_xy":[[0.3067972049546326,-2.1384772155688583],[0.3303335785439476,-1.9684772157584152]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.6135381885662177,-2.3151613228123935,0.71338606911949],"aabb_xy":[[0.5790758411680758,-2.3496552052102158],[0.6480005359643594,-2.2806674404145704]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.006852232579961592,-1.3293136110426402,0.71338606911949],"aabb_xy":[[-0.018097288150579427,-1.3405554087667355],[0.004392822990656242,-1.318071813318545]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.486047175999645,-1.7094857183264822,0.71338606911949],"aabb_xy":[[0.4517308988250271,-1.7594857182996602],[0.5203634531742629,-1.6594857183533047]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.05741060829252642,1.1003789842292564,0.71338606911949],"aabb_xy":[[0.01991060818693346,1.093556822376275],[0.09491060839811936,1.1072011460822373]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.5563832116543356,-2.138242535581615,0.71338606911949],"aabb_xy":[[-0.5788969034777928,-2.208242536182622],[-0.5338695198308784,-2.068242534980607]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[0.28845144096270037,-2.38090073990853,0.71338606911949],"aabb_xy":[[0.20345144227062573,-2.412886603303409],[0.373451439654775,-2.348914876513651]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[-0.028139129808217977,0.7205216063961992,0.71338606911949],"aabb_xy":[[-0.03347164446283096,0.7151972781509637],[-0.022806615153604992,0.7258459346414348]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.22754126278734765,0.29427240541047706,0.71338606911949],"aabb_xy":[[-0.23546454302609598,0.2717724051724737],[-0.21961798254859932,0.3167724056484804]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[0.2154751577207138,0.9876838623891464,0.71338606911949],"aabb_xy":[[0.15147515580837148,0.9317727131311362],[0.27947515963305614,1.043595011647157]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.16937267678263646,-1.685807238565893,0.71338606911949],"aabb_xy":[[-0.17578649042582137,-1.6922170588135612],[-0.1629588631394515,-1.6793974183182245]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.6791005862859631,-0.3775717852409546,0.71338606911949],"aabb_xy":[[0.6590421746727227,-0.39763687215011206],[0.6991589978992033,-0.357506698331797]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.3296597951575904,0.8885208785397505,0.71338606911949],"aabb_xy":[[-0.3495508350379307,0.8758650672550539],[-0.30976875527725023,0.9011766898244475]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_28","position":[0.5144780799385227,-0.28384039834533237,0.71338606911949],"aabb_xy":[[0.4544780793425065,-0.33865287089055585],[0.5744780805345389,-0.2290279258001089]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_29","position":[0.5149221216707887,0.651799102384695,0.71338606911949],"aabb_xy":[[0.4549221214193875,0.5975177773482302],[0.5749221219221898,0.7060804274211595]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[-0.5064444088493161,-0.618479149276471,0.71338606911949],"aabb_xy":[[-0.5564444102102033,-0.6684570538518866],[-0.4564444074884289,-0.5685012447010553]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855948735459536,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1776.png","name":"1776"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/690.png","name":"690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8360.png","name":"8360"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":533.9428189976225,"rotation_z_degrees":346.8196751538521,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014577190100901888,0.010659563418624618,-0.018817692915680913]},{"name":"camera_2","offset_m":[-0.01353879946057015,0.01575378555153271,-0.015534207918499679]},{"name":"camera_3","offset_m":[0.016809978511792983,-0.004727767844508813,0.005508353010829043]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015240440294576828,0.0017916874282268716,0.0006690173952896088],"end_effector_yaw_offset_degrees":-0.31676848892741694},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00017100415375562368,-0.0008395506581785428,-0.0009202742361410405],"end_effector_yaw_offset_degrees":-0.8814633848628783},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005794757285848863,-0.0005135519395616766,-0.001498419402808834],"end_effector_yaw_offset_degrees":0.9210838878872958}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008981089495878128,0.004917483699411934],"position_m":[0.3524018910504122,0.22231748369941196,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021083995068077012,0.003075625644750983],"position_m":[0.2732083995068077,-0.335224374355249,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016818544390320234,-0.001436238340128283],"position_m":[0.30338185443903204,0.37586376165987173,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004938314847427064,-0.004267323492059353],"position_m":[0.36233831484742707,0.06043267650794064,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ada1b631230059f6129eba1ec967bf4f7b0e855594910e225291942fc325fc6e","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3514/tex_ceiling_textures_8360/tex_floor_textures_6190/tex_table_textures_1776/tex_wall_textures_690","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":10667555538986833,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":10667555538986833,"visual_seed":10667555538986833,"scene_id":"lab_003","finished_at":"2026-09-04T07:24:58"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T07:25:02","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[0.060010343537599486,-2.4033719398962434,0.71338606911949],"aabb_xy":[[0.022510343040241243,-2.407340623444362],[0.09751034403495773,-2.399403256348125]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.5474978565793542,0.257080149254171,0.71338606911949],"aabb_xy":[[0.46749785514922704,0.17756299424156152],[0.6274978580094814,0.3365973042667805]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.286341130778869,-1.0744349470669718,0.71338606911949],"aabb_xy":[[0.22134113262294997,-1.100731191616884],[0.3513411289347881,-1.0481387025170597]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.36716026624160425,-0.8059477323830055,0.71338606911949],"aabb_xy":[[0.3328633552238635,-0.8402446185929467],[0.40145717725934477,-0.7716508461730641]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.13693698946985466,-1.153513760011483,0.71338606911949],"aabb_xy":[[-0.150383516103898,-1.1669836116645742],[-0.12349046283581133,-1.140043908358392]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.5302831221120481,-0.4203026838888464,0.71338606911949],"aabb_xy":[[-0.5780892897258167,-0.4853026865959053],[-0.48247695449827943,-0.3553026811817874]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.37332048506212445,0.06656603956663432,0.71338606911949],"aabb_xy":[[-0.38938241252064204,-0.0184339622459575],[-0.35725855760360675,0.1515660413792261]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.32753858397625285,1.300553180161745,0.71338606911949],"aabb_xy":[[-0.39253858508219613,1.2755878070936164],[-0.26253858287030957,1.325518553229873]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.5431254215021528,-1.125273077751962,0.71338606911949],"aabb_xy":[[0.5081254232320329,-1.13234720544695],[0.5781254197722727,-1.1181989500569736]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.2922908517415761,-1.1933674543886417,0.71338606911949],"aabb_xy":[[0.21229085472732812,-1.213502006062053],[0.3722908487558241,-1.1732329027152304]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.13648471896651282,-0.8377861976504588,0.71338606911949],"aabb_xy":[[-0.14895207707624847,-0.8502515222837823],[-0.12401736085677717,-0.8253208730171353]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[-0.01763855264851788,1.538150088138654,0.71338606911949],"aabb_xy":[[-0.08763855604007985,1.5028343144352228],[0.052361450743044095,1.5734658618420845]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.5758850913184673,1.2564968662506355,0.71338606911949],"aabb_xy":[[-0.6258693270266446,1.20649686743714],[-0.5259008556102901,1.306496865064131]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.4600988413292887,1.567335741785977,0.71338606911949],"aabb_xy":[[-0.5240988417068223,1.5175904749351647],[-0.39609884095175507,1.6170810086367893]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.687115488773925,1.4920308434557836,0.71338606911949],"aabb_xy":[[0.679412298099848,1.4843214727570453],[0.694818679448002,1.4997402141545215]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.5792399479578074,-0.11082293922944064,0.71338606911949],"aabb_xy":[[-0.6492399500892369,-0.13358490485513627],[-0.5092399458263778,-0.08806097360374496]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.06469765659102789,0.7131082035861054,0.71338606911949],"aabb_xy":[[0.0006976549130305182,0.664590812106791],[0.12869765826902524,0.7616255950654195]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.2217615695872781,0.19644945828739502,0.71338606911949],"aabb_xy":[[-0.24426156940118052,0.1919748419169143],[-0.19926156977337575,0.20092407465787568]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.35256649537413787,1.443229677860494,0.71338606911949],"aabb_xy":[[0.3169373394741782,1.407597011103641],[0.38819565127409766,1.478862344617347]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.5291053167496811,0.9742207825403209,0.71338606911949],"aabb_xy":[[0.4651053181631086,0.9272138191408121],[0.5931053153362535,1.0212277459398296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688719463606234,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9377.png","name":"9377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9377.png","name":"9377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8862.png","name":"8862"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9845.png","name":"9845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3975.png","name":"3975"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":676.418072219994,"rotation_z_degrees":192.62354271956937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01100375089643639,0.004220300005014058,0.019584874569202066]},{"name":"camera_2","offset_m":[-0.00010873961929955961,-0.017912181438138136,0.009337543810393322]},{"name":"camera_3","offset_m":[0.011640444766216198,-0.00156770809194123,0.01681572429533303]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006554394931582845,0.00042419595552760933,0.0010582147262015052],"end_effector_yaw_offset_degrees":-0.26204551972288037},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012294465494442582,-0.0018190793557738543,-0.000517399984459899],"end_effector_yaw_offset_degrees":-0.422226893781928},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019420356326678245,0.0015185014563098291,-0.0018092970034465652],"end_effector_yaw_offset_degrees":-0.9598035985233908}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015045290770938887,0.0014406433145999452],"position_m":[0.35480452907709387,0.21884064331459996,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004405828979382132,0.001462896576444237],"position_m":[0.27550582897938214,-0.3368371034235558,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002104262492934046,0.003597828272221759],"position_m":[0.3038042624929341,0.3808978282722218,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002158732164158638,0.0033419993430485037],"position_m":[0.3595587321641586,0.0680419993430485,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2c37ddc93d8195a99d700910459957327c1043cccdcbe37d712165fdfc19c43","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9377/tex_ceiling_textures_3975/tex_floor_textures_9845/tex_table_textures_8862/tex_wall_textures_2575","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5376149203447599823,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5376149203447599823,"visual_seed":5376149203447599823,"scene_id":"lab_003","finished_at":"2026-09-04T07:28:18"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T07:28:21","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.5667524139709585,1.468185301008194,0.71338606911949],"aabb_xy":[[0.5607858750302228,1.4622241563488299],[0.5727189529116943,1.4741464456675581]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.16286985607752058,-2.2477967304752693,0.71338606911949],"aabb_xy":[[0.09786985792160152,-2.2740929750251815],[0.22786985423343964,-2.221500485925357]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.5999456069829406,1.3928312832337286,0.71338606911949],"aabb_xy":[[-0.6849456054003639,1.3079569877714436],[-0.5149456085655174,1.4777055786960136]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.6423415912277228,-1.1838867220101545,0.71338606911949],"aabb_xy":[[0.6329241166578602,-1.1933028991478738],[0.6517590657975857,-1.1744705448724357]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.3414611527787268,1.6407433426653522,0.71338606911949],"aabb_xy":[[0.3344208428451898,1.560743343265681],[0.3485014627122638,1.7207433420650238]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.551612806280485,1.603241661995083,0.71338606911949],"aabb_xy":[[0.5212146951813413,1.572834759993413],[0.5820109173796285,1.633648563996752]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.17848594754418134,0.8275149351394604,0.71338606911949],"aabb_xy":[[-0.2129482949423231,0.7930210527416375],[-0.1440236001460395,0.8620088175372829]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.20412520565995151,1.698745205144403,0.71338606911949],"aabb_xy":[[0.19650093756977333,1.6911119816078597],[0.2117494737501298,1.7063784286809471]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.5978919603812684,0.13160488975954632,0.71338606911949],"aabb_xy":[[-0.6346865935061746,0.09469901466296404],[-0.5610973272563621,0.1685107648561286]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.6595667545372075,0.6766135661207917,0.71338606911949],"aabb_xy":[[0.6183179435072926,0.6216135666085741],[0.7008155655671221,0.731613565633009]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.3009709329419106,-1.3361786358923031,0.71338606911949],"aabb_xy":[[0.21097093321873636,-1.3592519884274827],[0.3909709326650847,-1.313105283357123]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.3172461333840371,1.3803824921900167,0.71338606911949],"aabb_xy":[[-0.38724613519278256,1.3590287234258294],[-0.24724613157529168,1.4017362609542041]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.2521489772243696,-1.144939143901919,0.71338606911949],"aabb_xy":[[-0.2740387248133104,-1.234939141191168],[-0.2302592296354288,-1.0549391466126699]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.17064973349517631,1.2506950380897477,0.71338606911949],"aabb_xy":[[-0.22064973515667105,1.200696595834045],[-0.12064973183368154,1.3006934803454504]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.21932060867514114,1.0613719436547209,0.71338606911949],"aabb_xy":[[0.2112842739738563,1.053333824350304],[0.22735694337642598,1.0694100629591377]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.33490902573204756,-0.7700093550023803,0.71338606911949],"aabb_xy":[[-0.37709343989287836,-0.8340093552795915],[-0.2927246115712169,-0.7060093547251691]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.201236555783037,0.7937733068814108,0.71338606911949],"aabb_xy":[[0.15125360559555764,0.7437733072388502],[0.2512195059705163,0.843773306523971]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.27192618513812933,-0.9546978515511466,0.71338606911949],"aabb_xy":[[-0.33592618654611994,-1.006486803075071],[-0.20792618373013863,-0.9029089000272218]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.20189901020377232,-1.479854811586473,0.71338606911949],"aabb_xy":[[0.17561018588333163,-1.5061262452411237],[0.22818783452421296,-1.4535833779318212]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.21557049422912977,-0.8562800984636432,0.71338606911949],"aabb_xy":[[0.2038023074344723,-0.9412800983688648],[0.22733868102378735,-0.7712800985584217]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[0.18819222955372683,-1.725913023179007,0.71338606911949],"aabb_xy":[[0.15319223128360693,-1.732987150873995],[0.22319222782384673,-1.7188388954840186]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.12718688322119798,-0.41765896374930334,0.71338606911949],"aabb_xy":[[-0.16218688311721685,-0.4260331992612433],[-0.09218688332517912,-0.4092847282373634]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.31839192986300097,1.573603023163837,0.71338606911949],"aabb_xy":[[-0.368386940822453,1.5236030241282457],[-0.26839691890354894,1.623603022199429]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[-0.28445260572829095,0.24422265040541546,0.71338606911949],"aabb_xy":[[-0.36445260715841815,0.16470549539280593],[-0.20445260429816375,0.3237398054180249]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.6011839601047577,-2.082911973132435,0.71338606911949],"aabb_xy":[[0.5898222254514714,-2.0942804395387227],[0.6125456947580438,-2.071543506726146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812541207198619,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4581.png","name":"4581"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3732.png","name":"3732"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":799.1853913181873,"rotation_z_degrees":198.77949598439045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015601609879744589,-0.004279166812583286,0.01975150827664506]},{"name":"camera_2","offset_m":[0.00624135567408203,-0.011120528793951246,0.00925210620864127]},{"name":"camera_3","offset_m":[-0.008775617107973402,-0.00654303372164327,0.012580316762456637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002084810402236128,-0.0009640681674314743,-0.00013661523346502192],"end_effector_yaw_offset_degrees":0.6142335070950917},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006882903936537863,-0.0016323368684285381,-0.0018113572043412672],"end_effector_yaw_offset_degrees":0.03867554406012963},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014137769244408635,-6.358487392790963e-05,0.00017705354152367176],"end_effector_yaw_offset_degrees":0.3226477585900911}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008682357727062499,-0.0038515578882992252],"position_m":[0.35416823577270623,0.2135484421117008,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004431408443958283,-0.0027524448095982146],"position_m":[0.2666685915560417,-0.3410524448095982,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020659538088167316,-0.003932857352307904],"position_m":[0.2996340461911833,0.3733671426476921,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001716171830304006,-0.0021639304222094468],"position_m":[0.359116171830304,0.06253606957779055,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29ae90aa4acbac422a77531490db732c9199772cd0dc03a285d811ebcd6adaeb","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1635/tex_ceiling_textures_1612/tex_floor_textures_7549/tex_table_textures_4581/tex_wall_textures_3732","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5615359001569284664,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5615359001569284664,"visual_seed":5615359001569284664,"scene_id":"lab_003","finished_at":"2026-09-04T07:31:28"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T07:31:31","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.46391429915163807,-0.09884984537776731,0.71338606911949],"aabb_xy":[[0.4264143007282377,-0.11201405934559792],[0.5014142975750384,-0.08568563140993667]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.37742101528822514,1.5503164651883155,0.71338606911949],"aabb_xy":[[-0.442421013169873,1.4991928014817744],[-0.31242101740657735,1.6014401288948563]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.4783615679625706,0.8430928370697313,0.71338606911949],"aabb_xy":[[-0.48799320418300013,0.8334555242900223],[-0.4687299317421409,0.8527301498494402]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.5920238857252658,-2.0621701568700903,0.71338606911949],"aabb_xy":[[0.5020238820483475,-2.123602563447194],[0.6820238894021838,-2.000737750292985]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.5461260652716129,0.07138833856145244,0.71338606911949],"aabb_xy":[[0.5398139657352745,0.0656213993082336],[0.5524381648079513,0.07715527781467127]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.6985677565685688,0.6814160310621689,0.71338606911949],"aabb_xy":[[0.674982633104674,0.6164160288167371],[0.7221528800324637,0.7464160333076006]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.5841391888900378,1.7001142335714197,0.71338606911949],"aabb_xy":[[-0.6216391874656585,1.6873779379078617],[-0.5466391903144169,1.7128505292349776]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.27750202534904456,-2.393456988097827,0.71338606911949],"aabb_xy":[[0.22250654752838517,-2.4484569895317336],[0.33249750316970395,-2.3384569866639198]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.025716766678153258,0.5637968147987431,0.71338606911949],"aabb_xy":[[-0.035798473756726734,0.48379681690662835],[-0.015635059599579778,0.6437968126908576]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.34804881051472425,-1.2111732509155435,0.71338606911949],"aabb_xy":[[-0.4280426340932825,-1.291173253508385],[-0.2680549869361661,-1.131173248322702]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.10940267007896942,-0.8249872415996959,0.71338606911949],"aabb_xy":[[-0.15940266965530414,-0.8749678205518019],[-0.0594026705026347,-0.77500666264759]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.22233941177612915,1.137867623808229,0.71338606911949],"aabb_xy":[[-0.23311238569749693,1.1028676255891898],[-0.21156643785476137,1.1728676220272678]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.6726728835471448,-1.680214946038561,0.71338606911949],"aabb_xy":[[-0.6808874286628287,-1.6888915363362023],[-0.6644583384314607,-1.6715383557409196]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.6599747825540165,-2.3958928010196336,0.71338606911949],"aabb_xy":[[0.6224747826102502,-2.4041858910544702],[0.697474782497783,-2.387599710984797]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.3979279337760644,-1.9686084366687253,0.71338606911949],"aabb_xy":[[0.33392793518949193,-2.015615400068234],[0.46192793236263685,-1.9216014732692164]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.23958546732477137,0.6839902317516176,0.71338606911949],"aabb_xy":[[0.2318822766506943,0.6762808610528797],[0.2472886579988484,0.6916996024503557]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.047151919841707635,-2.4396459207518757,0.71338606911949],"aabb_xy":[[0.034684561731971986,-2.452111245385199],[0.059619277951443284,-2.427180596118552]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.6362469700296018,-1.5294809771527238,0.71338606911949],"aabb_xy":[[-0.6427486065376066,-1.5392487991790338],[-0.6297453335215973,-1.5197131551264143]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.5840588937169624,-2.10226341596964,0.71338606911949],"aabb_xy":[[-0.6018524006518788,-2.1200631615654375],[-0.566265386782046,-2.084463670373842]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.30298444222455456,-1.6303319336832425,0.71338606911949],"aabb_xy":[[0.25301137669203916,-1.6803319334957756],[0.3529575077570701,-1.5803319338707098]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867274342433709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5382.png","name":"5382"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5382.png","name":"5382"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2534.png","name":"2534"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8636.png","name":"8636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3848.png","name":"3848"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/605.png","name":"605"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.2019772966645,"rotation_z_degrees":260.06005969319364,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007347266200276068,-0.017451621658878584,-0.007236445233780486]},{"name":"camera_2","offset_m":[-0.01608969288260374,-0.012561247072993656,0.01882598945225653]},{"name":"camera_3","offset_m":[-0.018214323298752656,0.012047455340432004,-0.006544673467000446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00149956420245001,-0.0013819413935726704,0.0005074697272277003],"end_effector_yaw_offset_degrees":0.15754032617813074},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003048889043289521,0.0002260454796461529,-0.00030715988880409867],"end_effector_yaw_offset_degrees":-0.418778192000024},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006770105460077445,-0.0016562733772353256,0.001001785695426138],"end_effector_yaw_offset_degrees":0.18058579915126072}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000350310732060103,-5.698964043387902e-05],"position_m":[0.3536503107320601,0.21734301035956613,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004756771908458392,0.004891129694571409],"position_m":[0.2663432280915416,-0.3334088703054286,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004797456442626553,-0.004144215792691077],"position_m":[0.3064974564426266,0.37315578420730894,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029146846996463984,0.001004905254607679],"position_m":[0.3544853153003536,0.06570490525460768,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c67787122a8634b014ff531e07fcfbb09bcf8d62531a3a7b02a4a4889caddba5","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5382/tex_ceiling_textures_605/tex_floor_textures_3848/tex_table_textures_2534/tex_wall_textures_8636","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1493520536577148143,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1493520536577148143,"visual_seed":1493520536577148143,"scene_id":"lab_003","finished_at":"2026-09-04T07:34:35"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T07:34:39","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.24401155145231718,1.4131263872334379,0.71338606911949],"aabb_xy":[[-0.27234126140085746,1.4086656450397208],[-0.21568184150377698,1.417587129427155]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.5698174535749891,0.8031575848613928,0.71338606911949],"aabb_xy":[[0.48981745491810325,0.78865272593713],[0.6498174522318753,0.8176624437856556]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.22781737969310545,-0.599681496068994,0.71338606911949],"aabb_xy":[[0.15781737630154344,-0.6349972697724249],[0.2978173830846674,-0.5643657223655631]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.03047001431763985,-2.188331334649786,0.71338606911949],"aabb_xy":[[-0.08044743118289342,-2.238331336139034],[0.019507402547613732,-2.138331333160537]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.4655482744138597,-0.896947234715952,0.71338606911949],"aabb_xy":[[0.4104230687842688,-0.956947236157239],[0.5206734800434503,-0.8369472332746647]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.380142306946037,-1.497618077261802,0.71338606911949],"aabb_xy":[[0.3351497202275866,-1.5426180765362505],[0.4251348936644874,-1.452618077987353]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.41048425813737566,-2.2800225781188503,0.71338606911949],"aabb_xy":[[-0.490484255540969,-2.3600151493170327],[-0.3304842607337822,-2.200030006920667]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.5798800086726055,-1.5680501210337772,0.71338606911949],"aabb_xy":[[0.574542433006601,-1.593050121962917],[0.5852175843386102,-1.5430501201046374]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.5171455425167797,-0.7114242978748957,0.71338606911949],"aabb_xy":[[0.46714554149764453,-0.7478905136127237],[0.5671455435359151,-0.6749580821370679]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.2656894365157114,-1.2196910698972825,0.71338606911949],"aabb_xy":[[-0.2736829263109935,-1.227689201837758],[-0.25769594672042945,-1.2116929379568069]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.48965476187465906,-0.7485681214268205,0.71338606911949],"aabb_xy":[[-0.5446547600764039,-0.7890900880532581],[-0.4346547636729143,-0.7080461548003829]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.305886909422118,-1.7532911773590816,0.71338606911949],"aabb_xy":[[-0.3553673306360768,-1.8172911752719334],[-0.2564064882081592,-1.6892911794462298]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.5817905107761625,-0.31623167621732584,0.71338606911949],"aabb_xy":[[0.5567905115042001,-0.33257703981348813],[0.6067905100481247,-0.29988631262116344]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.33629710803283164,1.0968157505869272,0.71338606911949],"aabb_xy":[[0.3211249387511983,1.081646893658724],[0.351469277314465,1.1119846075151307]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.4244641714386491,-1.3205908593379005,0.71338606911949],"aabb_xy":[[-0.5144641681742592,-1.3737743226551948],[-0.33446417470303885,-1.2674073960206058]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.6295340129798612,1.1886181027438405,0.71338606911949],"aabb_xy":[[0.6045340130473433,1.1817354345229174],[0.6545340129123791,1.195500770964764]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[-0.36696448612725824,-2.098664400608301,0.71338606911949],"aabb_xy":[[-0.4269644867232745,-2.1534768731535245],[-0.3069644855312421,-2.0438519280630776]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.30511303733546447,-1.3762982640768524,0.71338606911949],"aabb_xy":[[0.28690721367421684,-1.387323664658844],[0.3233188609967122,-1.3652728634948608]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.25061500575067014,1.6459709768676993,0.71338606911949],"aabb_xy":[[-0.2583181964247472,1.638261606168961],[-0.2429118150765931,1.6536803475664372]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.3884051234915369,-2.489349881368594,0.71338606911949],"aabb_xy":[[0.298405124073166,-2.5227253782127836],[0.4784051229099078,-2.455974384524404]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.0913696541204696,-2.2269175055466897,0.71338606911949],"aabb_xy":[[0.08432934418693262,-2.306917504946361],[0.09840996405400662,-2.1469175061470183]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.04549615426708542,-0.573802055607977,0.71338606911949],"aabb_xy":[[-0.05039544657364891,-0.6014789749105457],[-0.04059686196052192,-0.5461251363054082]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.5256721570463427,0.26005236356310313,0.71338606911949],"aabb_xy":[[0.4406721586289195,0.17517806810081815],[0.610672155463766,0.3449266590253881]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.15080641550115448,0.740329874044289,0.71338606911949],"aabb_xy":[[-0.20482201178305448,0.6763298711520318],[-0.09679081921925448,0.8043298769365461]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.07912210086033677,-1.3196610464240681,0.71338606911949],"aabb_xy":[[-0.1431221012378704,-1.3694063132748804],[-0.015122100482803144,-1.2699157795732559]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.47684512854554795,-0.5352266163016348,0.71338606911949],"aabb_xy":[[-0.5268239370558638,-0.5852266163073536],[-0.42686632003523206,-0.485226616295916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881035966191232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2733.png","name":"2733"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2733.png","name":"2733"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3239.png","name":"3239"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5245.png","name":"5245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4350.png","name":"4350"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":590.3352122636118,"rotation_z_degrees":266.21829063181815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017220774370015103,0.010257819461649338,0.01878607395653607]},{"name":"camera_2","offset_m":[-0.009123694307656853,0.0062862609436116525,-0.017330521840663814]},{"name":"camera_3","offset_m":[-0.016437739380165017,-0.01569143199020484,0.017507264911136324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00048736878916428813,-0.000533675696738928,0.0006573146000775376],"end_effector_yaw_offset_degrees":-0.5621037686863837},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008445352612299448,-3.442467598461802e-05,0.00043657746168308765],"end_effector_yaw_offset_degrees":-0.5972845920699175},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013090695482426361,-0.0017575329835629798,0.0004402123860415192],"end_effector_yaw_offset_degrees":0.3818391198927069}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037629391840465843,0.0036740399111271143],"position_m":[0.3495370608159534,0.22107403991112712,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002833079896455833,-0.003862453878640969],"position_m":[0.2739330798964558,-0.34216245387864097,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004246064851298952,0.0026606125243624776],"position_m":[0.29745393514870105,0.37996061252436253,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014793728168180785,-4.148991177223369e-05],"position_m":[0.3559206271831819,0.06465851008822776,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e9e506d4f3c7aeb309e41090c58cd40d1a0a2ca1e517e870b072c7cd872b21dd","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2733/tex_ceiling_textures_4350/tex_floor_textures_5245/tex_table_textures_3239/tex_wall_textures_9136","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5630787058116145527,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5630787058116145527,"visual_seed":5630787058116145527,"scene_id":"lab_003","finished_at":"2026-09-04T07:37:43"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T07:37:47","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.3319949459175333,-1.0025349605885083,0.71338606911949],"aabb_xy":[[0.32158338723704954,-1.0078806939244065],[0.34240650459801697,-0.9971892272526096]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.24562094660698675,-0.9901586823612629,0.71338606911949],"aabb_xy":[[0.22782743967207028,-1.0079584279570604],[0.2634144535419032,-0.9723589367654651]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.3520357326284678,-1.0743956504104104,0.71338606911949],"aabb_xy":[[-0.40203573357900063,-1.1059447974139316],[-0.302035731677935,-1.0428465034068888]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.11834164618885634,1.2863133836267728,0.71338606911949],"aabb_xy":[[0.05434164451085896,1.2377959921474586],[0.18234164786685367,1.334830775106087]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.5041220596913413,1.5464443763282474,0.71338606911949],"aabb_xy":[[-0.5416220598632132,1.5137436409453402],[-0.46662205951946933,1.5791451117111546]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[0.38373564955217443,-0.8523354856964311,0.71338606911949],"aabb_xy":[[0.3287619275158416,-0.9073354852606644],[0.43870937158850737,-0.7973354861321981]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.6633221086572165,-1.0938337705624124,0.71338606911949],"aabb_xy":[[0.6539046340873537,-1.1032499477001314],[0.6727395832270792,-1.0844175934246933]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.22179546546473494,-0.9658193433679332,0.71338606911949],"aabb_xy":[[-0.2588295748927946,-1.0001965507016424],[-0.18476135603667518,-0.9314421360342237]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.4680696513006648,1.5862439141587692,0.71338606911949],"aabb_xy":[[0.38806965331987975,1.5786423731969175],[0.5480696492814499,1.5938454551206214]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[-0.461971022481531,-0.732916653522135,0.71338606911949],"aabb_xy":[[-0.49697102237754986,-0.7412908890340748],[-0.4269710225855121,-0.7245424180101949]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.12351674273748947,-1.7672818490147604,0.71338606911949],"aabb_xy":[[-0.2135167464144076,-1.8287142555918645],[-0.033516739060571295,-1.7058494424376558]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.5407333013324533,-1.4790962781865866,0.71338606911949],"aabb_xy":[[-0.6057332998895261,-1.5088488116004695],[-0.4757333027753804,-1.4493437447727042]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.04715630540336724,-2.183822920281491,0.71338606911949],"aabb_xy":[[-0.06704734528370748,-2.196478731566188],[-0.027265265523026994,-2.1711671089967943]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.5250812169840613,-0.6833541879410392,0.71338606911949],"aabb_xy":[[0.5145137373259623,-0.6938992180540478],[0.5356486966421603,-0.6728091578280306]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.456738549725221,-1.3650547938563422,0.71338606911949],"aabb_xy":[[-0.47585085708319985,-1.3841895727335842],[-0.4376262423672421,-1.3459200149791002]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.057129332365382646,-0.6241517691512992,0.71338606911949],"aabb_xy":[[-0.06798093861425825,-0.6350110598789501],[-0.04627772611650704,-0.6132924784236481]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.4099874609603145,-2.050004805319652,0.71338606911949],"aabb_xy":[[-0.4411343798038976,-2.1200048040064585],[-0.37884054211673135,-1.9800048066328442]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.5490706457579742,1.13342180489978,0.71338606911949],"aabb_xy":[[0.4939454401283833,1.0734218034584926],[0.6041958513875648,1.1934218063410669]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.09294667336741469,-1.1284511609610743,0.71338606911949],"aabb_xy":[[-0.14242709458137348,-1.1924511588739262],[-0.0434662521534559,-1.0644511630482225]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.34738496831563137,1.0202279764834614,0.71338606911949],"aabb_xy":[[0.2833849691458615,0.9734612893644988],[0.4113849674854014,1.0669946636024237]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.5693929753019173,-0.5967534552524738,0.71338606911949],"aabb_xy":[[0.5318929753581509,-0.6050465452873104],[0.6068929752456838,-0.5884603652176372]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.4078134473082291,1.3522219219799556,0.71338606911949],"aabb_xy":[[0.38752914458483034,1.3319392968372465],[0.42809775003162787,1.3725045471226642]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.6078902325105038,0.16457180020095263,0.71338606911949],"aabb_xy":[[-0.6328902317824661,0.1482264366047903],[-0.5828902332385415,0.18091716379711498]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885429178727802,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3926.png","name":"3926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3926.png","name":"3926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/708.png","name":"708"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4080.png","name":"4080"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":820.0983185483973,"rotation_z_degrees":285.78060854789874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004804438844130142,0.00026532401765024666,-0.019036131421346296]},{"name":"camera_2","offset_m":[0.013757203420652491,0.014829488106761667,0.015059880397137033]},{"name":"camera_3","offset_m":[-0.0029202452380114076,-0.01151613447670659,0.0014242353057116151]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001318358893240026,0.0011536669878702403,-0.0019312395934180048],"end_effector_yaw_offset_degrees":-0.8481221506717718},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001918920620284188,0.0009566416970083376,0.0016264896806343818],"end_effector_yaw_offset_degrees":-0.47013028201497176},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004172127480199185,-0.001709723923072652,0.0015094237620430061],"end_effector_yaw_offset_degrees":-0.1404675596611451}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022147226928939667,0.0032161262450779013],"position_m":[0.35108527730710604,0.2206161262450779,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004478448444280332,0.002863298742426193],"position_m":[0.27557844844428037,-0.3354367012575738,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037657229444188886,0.0007615546715436274],"position_m":[0.3054657229444189,0.3780615546715437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001596518981123252,0.000740761507452288],"position_m":[0.3589965189811232,0.06544076150745229,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3e27aa7a5dd44f3f9ea5a3f1c6565ef6f769c9d194367f78c2f8283679e8f62","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3926/tex_ceiling_textures_4080/tex_floor_textures_708/tex_table_textures_4266/tex_wall_textures_2934","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1478101570113185658,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1478101570113185658,"visual_seed":1478101570113185658,"scene_id":"lab_003","finished_at":"2026-09-04T07:40:56"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T07:40:59","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.5239027701187076,-0.5072220637749827,0.71338606911949],"aabb_xy":[[-0.5318962599139896,-0.5152201957154584],[-0.5159092803234255,-0.49922393183450714]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[0.5717352365376658,-1.6538314674062362,0.71338606911949],"aabb_xy":[[0.5067352379805928,-1.6835840008201186],[0.6367352350947385,-1.6240789339923534]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.5203229456060143,-0.2617107027969148,0.71338606911949],"aabb_xy":[[0.5027446434170675,-0.2792851923710197],[0.5379012477949612,-0.24413621322280987]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.5814977893689111,-0.021465025209383093,0.71338606911949],"aabb_xy":[[0.5447031562440047,-0.05837090030596537],[0.6182924224938172,0.015440849887199182]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.5721319390658675,0.9084166166781094,0.71338606911949],"aabb_xy":[[-0.6421319354758291,0.8879786810264274],[-0.5021319426559055,0.9288545523297909]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.5690846174280504,-1.0926135896535227,0.71338606911949],"aabb_xy":[[-0.5859953498643921,-1.106085795246137],[-0.5521738849917085,-1.079141384060908]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.2125755541786259,0.847437186666602,0.71338606911949],"aabb_xy":[[-0.22580649971330716,0.8342097676446025],[-0.19934460864394457,0.8606646056886014]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.3531130643625187,-0.7423871348612252,0.71338606911949],"aabb_xy":[[-0.4181130670003122,-0.7938667335606722],[-0.28811306172472523,-0.6909075361617782]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.3072100525536404,1.2834607690951745,0.71338606911949],"aabb_xy":[[-0.3111705363233747,1.2757929045096539],[-0.303249568783906,1.291128633680695]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[0.19878777898674949,-1.6434934994003785,0.71338606911949],"aabb_xy":[[0.11878777851653355,-1.651804207014727],[0.2787877794569654,-1.63518279178603]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.20250970243681443,0.6347561120594674,0.71338606911949],"aabb_xy":[[0.1680473550386726,0.6002622296616444],[0.2369720498349562,0.6692499944572898]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.21597684801920958,-0.7426802163417205,0.71338606911949],"aabb_xy":[[-0.22475807516644586,-0.7514599636302509],[-0.2071956208719734,-0.7339004690531905]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.6541175057519981,-1.1348345868884129,0.71338606911949],"aabb_xy":[[-0.6659895887634991,-1.2198345865820632],[-0.6422454227404969,-1.0498345871947625]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.6572698432169257,-0.18647868441479387,0.71338606911949],"aabb_xy":[[0.592269843182623,-0.23317936109512116],[0.7222698432512284,-0.13977800773446658]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.2740884051803454,0.5739553267665456,0.71338606911949],"aabb_xy":[[-0.30838531619808596,0.5396584405566041],[-0.2397914941626047,0.6082522129764867]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.47207343988943706,-1.4358869956457898,0.71338606911949],"aabb_xy":[[0.3920734413021177,-1.515202597583951],[0.5520734384767565,-1.3565713937076291]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.048315400867185665,-1.0734382570287195,0.71338606911949],"aabb_xy":[[0.017168482023602542,-1.1434382557155267],[0.07946231971076878,-1.0034382583419124]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.41949558993837355,0.455561132242972,0.71338606911949],"aabb_xy":[[-0.4276092446117506,0.4474553157889429],[-0.4113819352649964,0.46366694869700104]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[-0.23754061059446835,0.3076509452608329,0.71338606911949],"aabb_xy":[[-0.30154060788011694,0.2661442263079889],[-0.17354061330881967,0.34915766421367683]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.3691433216287958,-0.49947410303639783,0.71338606911949],"aabb_xy":[[0.3281253782424249,-0.5494741036673552],[0.41016126501516664,-0.44947410240544056]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.07177559801607591,-1.8893473490373718,0.71338606911949],"aabb_xy":[[-0.15177559908919624,-1.8991253953747558],[0.008224403057044416,-1.879569302699987]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.6195554450569912,1.0336817165525738,0.71338606911949],"aabb_xy":[[-0.6297084606111405,0.997612174979833],[-0.6094024295028417,1.0697512581253137]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.26366305336396334,-1.91541879003498,0.71338606911949],"aabb_xy":[[0.24119828339255817,-1.9379187909138404],[0.2861278233353684,-1.8929187891561194]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.41835966710928196,-1.0567054394492381,0.71338606911949],"aabb_xy":[[0.40955761180030925,-1.064516765604167],[0.4271617224182547,-1.0488941132943088]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.6940904344692287,-0.35809167752234483,0.71338606911949],"aabb_xy":[[0.683317460547861,-0.39309167574138376],[0.7048634083905966,-0.3230916793033058]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.298951766447471,-2.009091072394498,0.71338606911949],"aabb_xy":[[0.2089517667242968,-2.0321644249296775],[0.38895176617064514,-1.986017719859318]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[-0.3953095902796373,-1.0799813480675327,0.71338606911949],"aabb_xy":[[-0.415593893003036,-1.1002639732102413],[-0.3750252875562385,-1.0596987229248236]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[0.022014917789747845,-2.297354328677772,0.71338606911949],"aabb_xy":[[-0.02798508085617335,-2.347273872337234],[0.07201491643566904,-2.247434785018309]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[0.5149736387175026,-2.1424654916261923,0.71338606911949],"aabb_xy":[[0.44997363771700205,-2.193251856780867],[0.5799736397180031,-2.0916791264715173]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[0.3258602177980101,0.8305122459914709,0.71338606911949],"aabb_xy":[[0.29957139347756934,0.8042408123368194],[0.35214904211845066,0.8567836796461219]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[-0.4246288717256567,-2.298870345584649,0.71338606911949],"aabb_xy":[[-0.44230450231425505,-2.3165505618640516],[-0.4069532411370584,-2.281190129305246]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6852204431851264,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4479.png","name":"4479"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4479.png","name":"4479"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6074.png","name":"6074"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7926.png","name":"7926"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3380.png","name":"3380"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":653.5219956780231,"rotation_z_degrees":192.7920856542795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004597268682368726,0.0026721130159134444,-0.002046148591483995]},{"name":"camera_2","offset_m":[0.0048801877306595826,0.004079248031139699,-0.01291649182693301]},{"name":"camera_3","offset_m":[-0.007245028335046606,0.0019884714652714623,0.0026812889145044864]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014671303044446037,-0.0013982462584585856,0.00010269039916760772],"end_effector_yaw_offset_degrees":-0.47303024520170367},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007257797832820856,0.0004028612873364359,0.000911057509086538],"end_effector_yaw_offset_degrees":0.5851824418662379},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00014229986868136233,0.0017455494783928669,0.001411024446901314],"end_effector_yaw_offset_degrees":0.20773379835919537}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002951972271480131,0.0007535870350933753],"position_m":[0.35034802772851986,0.21815358703509338,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037496025020615923,0.0036052224337697345],"position_m":[0.2748496025020616,-0.33469477756623023,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002278680785846837,-0.0004549381843924937],"position_m":[0.29942131921415316,0.3768450618156075,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024787642011071176,-0.0011506630405405905],"position_m":[0.3598787642011071,0.0635493369594594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d57338df0f8ae00e72a1c885cb2d5930e93f05f70864c086123e905eca54f3d","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4479/tex_ceiling_textures_1673/tex_floor_textures_3380/tex_table_textures_6074/tex_wall_textures_7926","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7071802615483170754,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7071802615483170754,"visual_seed":7071802615483170754,"scene_id":"lab_003","finished_at":"2026-09-04T07:44:07"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T07:44:12","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.06099304870346489,0.9756999250498173,0.71338606911949],"aabb_xy":[[-0.13099304511342663,0.9552619893981356],[0.009006947706496916,0.996137860701499]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[-0.1773823337056869,0.00977405436574097,0.71338606911949],"aabb_xy":[[-0.18822281193220178,-0.007412226924907839],[-0.16654185547917197,0.026960335656389778]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.29333715470833144,1.055699192288785,0.71338606911949],"aabb_xy":[[-0.3158371545222338,1.0512245759183043],[-0.27083715489442906,1.0601738086592658]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.6184120367037278,1.5818389567533901,0.71338606911949],"aabb_xy":[[0.5983536250904874,1.5617738698442327],[0.638470448316968,1.6019040436625476]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.2027971747659882,-1.028023962231814,0.71338606911949],"aabb_xy":[[-0.28279717342287414,-1.0425288211560768],[-0.12279717610910215,-1.013519103307551]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.3700291532295856,-0.5792843684826772,0.71338606911949],"aabb_xy":[[-0.3950291531621035,-0.5861670367036006],[-0.34502915329706774,-0.572401700261754]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.4706951034776595,1.719627709904835,0.71338606911949],"aabb_xy":[[-0.5606951071545776,1.6581953033277301],[-0.3806950998007412,1.7810601164819388]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.3811444243287372,0.5628382817954227,0.71338606911949],"aabb_xy":[[0.3723423690197645,0.5550269556404935],[0.3899464796377099,0.5706496079503517]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.14713927707890795,-1.6604041513583896,0.71338606911949],"aabb_xy":[[-0.21113927875690527,-1.7089215428377036],[-0.08313927540091057,-1.6118867598790751]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.3901097495263742,1.3982574958470804,0.71338606911949],"aabb_xy":[[-0.39607628846710996,1.392296351187716],[-0.3841432105856384,1.4042186405064443]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.4376793316074058,0.7565951423165891,0.71338606911949],"aabb_xy":[[-0.4992700908313986,0.6925951442075423],[-0.376088572383413,0.8205951404256361]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[0.023118623024069307,-1.5624396180509024,0.71338606911949],"aabb_xy":[[-0.01964808385535088,-1.6264396214727048],[0.0658853299034895,-1.4984396146291]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.09904436636582148,1.6664531784342285,0.71338606911949],"aabb_xy":[[0.07993205900784263,1.6473183995569862],[0.11815667372380036,1.6855879573114703]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5585977568156036,0.8727958611043047,0.71338606911949],"aabb_xy":[[-0.6385977539751789,0.8612482601464876],[-0.47859775965602835,0.8843434620621217]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.185890562617109,-0.11803278757161495,0.71338606911949],"aabb_xy":[[-0.24101576824669974,-0.1780327890129021],[-0.13076535698751818,-0.058032786130327814]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.22334695834163065,-0.9648923620130403,0.71338606911949],"aabb_xy":[[0.1772618670868992,-1.0288923592655952],[0.26943204959636213,-0.9008923647604851]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.21124849914427918,-0.6073060205347467,0.71338606911949],"aabb_xy":[[-0.21609209390550915,-0.6121576730137308],[-0.2064049043830492,-0.6024543680557626]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.09663778439368476,-0.8327456895424088,0.71338606911949],"aabb_xy":[[-0.1516377825954296,-0.8732676561688463],[-0.041637786191939925,-0.7922237229159711]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.40058593837593803,1.2060321227313615,0.71338606911949],"aabb_xy":[[0.3897343321270625,1.1951728320037105],[0.4114375446248137,1.2168914134590125]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.2593733243043156,1.7758045526407424,0.71338606911949],"aabb_xy":[[-0.32337332347408554,1.7290378655217802],[-0.19537332513454567,1.8225712397597051]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[0.30981168323766717,-1.5308759793130942,0.71338606911949],"aabb_xy":[[0.2923117498036838,-1.5483759792333287],[0.32731161667165054,-1.5133759793928596]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.053297351923711545,-2.0430369004809257,0.71338606911949],"aabb_xy":[[0.03542824416925605,-2.0568698084581367],[0.07116645967816704,-2.0292039925037146]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.4242567984310704,-0.8786274934509855,0.71338606911949],"aabb_xy":[[-0.48825680034341273,-0.934538642708996],[-0.36025679651872805,-0.8227163441929751]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6823286898188653,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3123.png","name":"3123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1905.png","name":"1905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4029.png","name":"4029"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7929.png","name":"7929"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":556.0176551731462,"rotation_z_degrees":39.972457032432615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004456495376863693,0.015563669249350823,0.015367271160674118]},{"name":"camera_2","offset_m":[-0.007763644777767276,-0.0013205294299411252,0.017493984195184473]},{"name":"camera_3","offset_m":[-0.00917009210948101,-0.012448507496452384,0.0063040274665206696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010515789703992228,0.0007733766612599805,-0.00032471951792714107],"end_effector_yaw_offset_degrees":-0.8984100180376839},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005121224339506268,-0.00016363322361105442,0.00041342706046635855],"end_effector_yaw_offset_degrees":-0.6964472092151845},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017092451066785838,-0.0016954375887529953,0.0010660444520289424],"end_effector_yaw_offset_degrees":-0.29260205219145674}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020928391845002805,-0.0019775460448007787],"position_m":[0.35120716081549974,0.21542245395519924,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012697373147079615,0.0005974588453339369],"position_m":[0.26983026268529203,-0.337702541154666,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004659589529072595,0.00023671453244860936],"position_m":[0.29704041047092744,0.37753671453244864,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003301531220790836,0.004203152712366356],"position_m":[0.36070153122079085,0.06890315271236636,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c043b95a6f50c5cdbba35312f3247b91f386390ebf728a56bae61b1132dcfc60","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6883/tex_ceiling_textures_7929/tex_floor_textures_4029/tex_table_textures_3123/tex_wall_textures_1905","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4146399896769272715,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4146399896769272715,"visual_seed":4146399896769272715,"scene_id":"lab_003","finished_at":"2026-09-04T07:47:22"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T07:47:25","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.3685982847474498,0.308083893514711,0.71338606911949],"aabb_xy":[[-0.3773122537973842,0.2855838928555227],[-0.3598843156975152,0.33058389417389916]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.3752966418556457,-1.6831505244689184,0.71338606911949],"aabb_xy":[[-0.43929664223317927,-1.7328957913197307],[-0.31129664147811204,-1.6334052576181062]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.5637231053149913,0.6857058204857598,0.71338606911949],"aabb_xy":[[-0.5738048123935646,0.6057058225936451],[-0.5536413982364177,0.7657058183778744]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.37254389996629134,-2.436816555994901,0.71338606911949],"aabb_xy":[[0.36118216531300507,-2.4481850224011885],[0.3839056346195774,-2.425448089588613]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.6624877268888192,1.706446989809931,0.71338606911949],"aabb_xy":[[0.6265742224638294,1.6705334815931763],[0.6984012313138087,1.7423604980266854]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.1261740897117506,1.1927008361703062,0.71338606911949],"aabb_xy":[[0.12153897455951722,1.1888335010931572],[0.13080920486398398,1.1965681712474547]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.5270219038333752,0.8584695233963355,0.71338606911949],"aabb_xy":[[-0.5445218372673585,0.840969523476101],[-0.5095219703993917,0.8759695233165701]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.611659471798705,-2.0995194002299935,0.71338606911949],"aabb_xy":[[-0.6615421686764013,-2.1495193994762682],[-0.5617767749210089,-2.0495194009837188]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.42755736818564083,1.2821216012418675,0.71338606911949],"aabb_xy":[[0.41291396263160784,1.2674628815850832],[0.4422007737396738,1.2967803208986517]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.39888584671547656,0.9396433810896578,0.71338606911949],"aabb_xy":[[0.36773892787189344,0.8696433824028504],[0.43003276555905967,1.0096433797764648]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.5926822520247311,-0.32822424300086883,0.71338606911949],"aabb_xy":[[-0.6826822506192012,-0.34447482931428985],[-0.5026822534302613,-0.3119736566874478]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.524368903587791,-2.4973342203498055,0.71338606911949],"aabb_xy":[[-0.5425747272490387,-2.5083596209317975],[-0.5061630799265433,-2.4863088197678143]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[0.3924976130203659,-0.9081375516130383,0.71338606911949],"aabb_xy":[[0.38716509836575297,-0.9134618798582739],[0.39783012767497894,-0.9028132233678028]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.08594601114583367,-1.2515120475527606,0.71338606911949],"aabb_xy":[[-0.10028043627199713,-1.2635722631072994],[-0.07161158601967023,-1.2394518319982217]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.39532260860967283,-1.2843966749502271,0.71338606911949],"aabb_xy":[[0.3253226059730864,-1.3045015399460924],[0.46532261124625907,-1.2642918099543614]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.055379676766520336,1.0681831091117733,0.71338606911949],"aabb_xy":[[-0.07755220374317118,1.0460074419556502],[-0.033207149789869495,1.0903587762678963]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.09189209903360052,0.6561470908411056,0.71338606911949],"aabb_xy":[[-0.12939210054923223,0.6449203178249605],[-0.05439209751796881,0.6673738638572506]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.6787753951206783,-0.6646791235096012,0.71338606911949],"aabb_xy":[[0.641275396697278,-0.6778433374774318],[0.7162753935440787,-0.6515149095417705]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.5330652239743308,-0.24916219859234356,0.71338606911949],"aabb_xy":[[0.45306522538701127,-0.32847780053050446],[0.6130652225616501,-0.16984659665418267]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.5948989300204359,0.02897771374536129,0.71338606911949],"aabb_xy":[[0.5348989283775141,-0.023022435546582898],[0.6548989316633578,0.08097786303730548]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.4571181060834204,-1.143114601912249,0.71338606911949],"aabb_xy":[[0.3931181067892522,-1.2071007422811029],[0.5211181053775886,-1.0791284615433945]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.4019971739893867,-2.4493350827624556,0.71338606911949],"aabb_xy":[[-0.4265107980863926,-2.4735996760644916],[-0.37748354989238087,-2.4250704894604187]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.35211754050780897,-1.7816079953906556,0.71338606911949],"aabb_xy":[[0.3156217198805303,-1.8180919378174132],[0.38861336113508776,-1.745124052963898]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.5501515502259553,-1.5673601639162338,0.71338606911949],"aabb_xy":[[-0.5571930011767029,-1.5743869156540282],[-0.5431100992752077,-1.5603334121784393]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.16269766801333652,0.693055889774294,0.71338606911949],"aabb_xy":[[0.1566030401252182,0.6844864952226253],[0.16879229590145484,0.7016252843259627]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[0.1216496042394698,-1.8780484485598574,0.71338606911949],"aabb_xy":[[0.08664960288798805,-1.8984081845166783],[0.1566496055909515,-1.8576887126030366]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.6628647559108503,1.247432636896011,0.71338606911949],"aabb_xy":[[0.6128805202026729,1.1974326380825153],[0.7128489916190274,1.2974326357095065]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[-0.2907204033847549,-0.34851242638901025,0.71338606911949],"aabb_xy":[[-0.34569412542108785,-0.4035124259532435],[-0.23574668134842208,-0.29351242682477713]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_28","position":[0.42718398933824964,0.7463239198018883,0.71338606911949],"aabb_xy":[[0.38441728245882945,0.6823239163800858],[0.4699506962176698,0.8103239232236907]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.45936993104518714,1.812206696703789,0.71338606911949],"aabb_xy":[[-0.4968699308622207,1.8075684853926473],[-0.4218699312281536,1.816844908014931]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[-0.08885851650743182,-2.331200993412842,0.71338606911949],"aabb_xy":[[-0.11177422939248174,-2.3541052905492656],[-0.06594280362238193,-2.3082966962764186]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.5970509049961052,0.6197714958185383,0.71338606911949],"aabb_xy":[[0.5170509075925117,0.5397789246203554],[0.6770509023996986,0.699764067016721]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882594363811482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6544.png","name":"6544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6544.png","name":"6544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5913.png","name":"5913"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6068.png","name":"6068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3189.png","name":"3189"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5465.png","name":"5465"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.8449937069507,"rotation_z_degrees":272.61303866049064,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010315324219105441,0.01740137178151978,-0.01351264722975918]},{"name":"camera_2","offset_m":[-0.004950068694488498,0.0030578374917369956,-0.01333304542328393]},{"name":"camera_3","offset_m":[-0.016288985941721186,-0.019872407883768123,-0.01356846050022595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013450784225277905,-0.0001878839037278803,-0.00042917379000059915],"end_effector_yaw_offset_degrees":-0.5066279891537435},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001295762520393687,0.0011880056846825062,-0.0004599910783402339],"end_effector_yaw_offset_degrees":0.9372072149802324},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000405902140937489,-0.0011087539098623518,-0.00011480468059199339],"end_effector_yaw_offset_degrees":-0.30428916616604185}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001696036750225588,0.004921968709506287],"position_m":[0.3516039632497744,0.2223219687095063,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004586417196043508,0.0037880695852830154],"position_m":[0.27568641719604353,-0.334511930414717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003292196322164446,0.000965797552878336],"position_m":[0.30499219632216445,0.37826579755287837,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0040157991705119045,0.001181768285739431],"position_m":[0.35338420082948807,0.06588176828573943,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dacc095571785acb7757c3100417877cc794ce6c627881f24cc6fa6226e52b62","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6544/tex_ceiling_textures_5465/tex_floor_textures_3189/tex_table_textures_5913/tex_wall_textures_6068","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":605261571825147190,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":605261571825147190,"visual_seed":605261571825147190,"scene_id":"lab_003","finished_at":"2026-09-04T07:50:42"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T07:50:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.4642547982537295,-0.8217570718983012,0.71338606911949],"aabb_xy":[[-0.48093193424682507,-0.8384569958722313],[-0.44757766226063406,-0.8050571479243708]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.29048703484438165,-0.8164028819054696,0.71338606911949],"aabb_xy":[[0.2536924017194753,-0.8533087570020518],[0.32728166796928787,-0.7794970068088872]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.4080747954893562,0.5896766852299531,0.71338606911949],"aabb_xy":[[-0.4530673822078067,0.5446766859555043],[-0.36308220877090586,0.6346766845044018]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.15082720853583798,0.9150396207609988,0.71338606911949],"aabb_xy":[[0.13767596256454862,0.8900396210043124],[0.16397845450712734,0.9400396205176855]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.6562824247391197,-1.0743321329904574,0.71338606911949],"aabb_xy":[[-0.6937824246828861,-1.082625223025294],[-0.6187824247953533,-1.0660390429556208]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.6345017193169726,0.7682770906760927,0.71338606911949],"aabb_xy":[[0.6142174165935737,0.7479944655333839],[0.6547860220403712,0.7885597158188016]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.4018494168750958,-2.5082001071636455,0.71338606911949],"aabb_xy":[[-0.4243494163988031,-2.530696054614266],[-0.3793494173513883,-2.4857041597130243]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[0.2212385117188551,-1.494975414990795,0.71338606911949],"aabb_xy":[[0.1612385118722883,-1.5517940371838337],[0.2812385115654219,-1.4381567927977563]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.2645578598328929,1.5985380019544553,0.71338606911949],"aabb_xy":[[-0.30674227399372367,1.534538001677244],[-0.2223734456720622,1.6625380022316665]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.02172459655094172,-0.03823520375915512,0.71338606911949],"aabb_xy":[[-0.0392245967959911,-0.05573499159872197],[-0.0042245963058923355,-0.020735415919588277]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.6322667519061357,-0.1691821944608769,0.71338606911949],"aabb_xy":[[-0.6822441687713893,-0.21918219595012542],[-0.5822893350408821,-0.11918219297162834]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.1359934378369544,0.6782100696897797,0.71338606911949],"aabb_xy":[[0.09497549445058351,0.6282100690588224],[0.17701138122332527,0.728210070320737]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.5710257618529807,1.8039637219084637,0.71338606911949],"aabb_xy":[[-0.590916801733321,1.7913079106237673],[-0.5511347219726405,1.816619533193161]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.4878389583012104,-1.5228863430785287,0.71338606911949],"aabb_xy":[[0.47971127010789716,-1.5317999514892362],[0.4959666464945236,-1.5139727346678211]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.400342564137039,-2.304196155515866,0.71338606911949],"aabb_xy":[[-0.43074067523618254,-2.334603057517535],[-0.36994445303789536,-2.273789253514196]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.5694274883713335,-1.0559445943491277,0.71338606911949],"aabb_xy":[[0.5469627183999283,-1.0784445952279882],[0.5918922583427385,-1.0334445934702672]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.15992119497429125,0.6819271351014549,0.71338606911949],"aabb_xy":[[-0.22392119414406123,0.6351604479824924],[-0.09592119580452134,0.7286938222204173]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.6202949100442761,0.2739738875318576,0.71338606911949],"aabb_xy":[[0.5552949090437754,0.22318752237718265],[0.6852949110447765,0.3247602526865325]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.26703362459597646,-1.1921791740885639,0.71338606911949],"aabb_xy":[[0.1770336209190582,-1.253611580665668],[0.35703362827289453,-1.1307467675114593]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.45917746609648136,-0.46963285078532424,0.71338606911949],"aabb_xy":[[0.3791774628386383,-0.5496293585773082],[0.5391774693543242,-0.38963634299334027]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.1505228414601445,-2.2326590604063368,0.71338606911949],"aabb_xy":[[0.10524422657899524,-2.29665905975452],[0.19580145634129376,-2.1686590610581526]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.07144379128241463,-2.060959339887171,0.71338606911949],"aabb_xy":[[0.04622295442257495,-2.086183090740057],[0.09666462814225428,-2.035735589034284]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[0.5328115501148054,-0.8694124479011334,0.71338606911949],"aabb_xy":[[0.4978115501383096,-0.87887706394875],[0.5678115500913012,-0.8599478318535168]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.488109320967143,1.083655771650689,0.71338606911949],"aabb_xy":[[-0.5781093203855139,1.0502802748064992],[-0.3981093215487721,1.1170312684948787]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[0.33731417957432175,-1.8347870243232203,0.71338606911949],"aabb_xy":[[0.2873141782904817,-1.8847658787138422],[0.38731418085816166,-1.784808169932598]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.6066254954700274,-0.005390425488462469,0.71338606911949],"aabb_xy":[[-0.6716254933516752,-0.05651408919500335],[-0.5416254975883796,0.045733238218078405]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884813620768612,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5737.png","name":"5737"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6242.png","name":"6242"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9099.png","name":"9099"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.6050427765172,"rotation_z_degrees":113.50853022226914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014995578938140346,-0.010271096032994037,0.01156892655555444]},{"name":"camera_2","offset_m":[0.002498981485852571,-0.010664384631311563,0.018652927193083018]},{"name":"camera_3","offset_m":[0.001164583692155198,-0.004838109307095854,-0.012677189003631848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009443562905282988,0.0003672100013698211,-0.0016768012705480157],"end_effector_yaw_offset_degrees":0.6599279658893029},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013840830214408646,-0.0015280754925762609,0.0019500154746933361],"end_effector_yaw_offset_degrees":-0.8156718434639625},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012089616689560149,0.0014381859462232554,-0.0019101241981999797],"end_effector_yaw_offset_degrees":0.7821235638058164}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020961187285893227,0.002974550735003718],"position_m":[0.35539611872858934,0.22037455073500373,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024003345634530373,-0.003804823633913932],"position_m":[0.273500334563453,-0.3421048236339139,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0045044117245745625,-0.00047769509709030735],"position_m":[0.3062044117245746,0.37682230490290974,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001995780289099425,-0.0048773008003597925],"position_m":[0.3554042197109006,0.0598226991996402,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d91eda237b74215595860af7ac3c2d034a2da2e0b5ffcc1cc080aa9b29c892b2","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7551/tex_ceiling_textures_9099/tex_floor_textures_6615/tex_table_textures_5737/tex_wall_textures_6242","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5272760280018938711,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5272760280018938711,"visual_seed":5272760280018938711,"scene_id":"lab_003","finished_at":"2026-09-04T07:53:53"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T07:53:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[0.5675935575820157,0.7727945354661596,0.71338606911949],"aabb_xy":[[0.5500935583039288,0.7554564353998137],[0.5850935568601026,0.7901326355325056]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[0.45306479459265314,-0.9882625455941765,0.71338606911949],"aabb_xy":[[0.3730709710140949,-1.068262548187018],[0.5330586181712114,-0.9082625430013349]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.5487903980692173,-1.4906945895018666,0.71338606911949],"aabb_xy":[[0.48719963884522444,-1.5546945876109135],[0.6103811572932101,-1.4266945913928197]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.5309140406304589,-2.3367144748173065,0.71338606911949],"aabb_xy":[[-0.595914041587586,-2.388662686751012],[-0.4659140396733316,-2.284766262883601]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.2030816263910349,-2.3755849582508843,0.71338606911949],"aabb_xy":[[0.12308162923145957,-2.3871325592087014],[0.2830816235506102,-2.3640373572930673]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.5390269949056108,-2.5483513396121786,0.71338606911949],"aabb_xy":[[0.5165269950917085,-2.5528259559826587],[0.5615269947195133,-2.5438767232416977]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.05478691360687127,1.3029023065463563,0.71338606911949],"aabb_xy":[[-0.025213089650971687,1.2229057987543726],[0.13478691686471422,1.3828988143383405]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.07890413026867493,-2.4769149034897833,0.71338606911949],"aabb_xy":[[-0.11453328616863467,-2.512547570246636],[-0.04327497436871519,-2.4412822367329303]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.24663194749870854,1.2223303579551348,0.71338606911949],"aabb_xy":[[0.22141111063886884,1.1971066071022476],[0.27185278435854815,1.247554108808021]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.24202454728223355,-1.9199899368371431,0.71338606911949],"aabb_xy":[[-0.2788191804071398,-1.9568958119337254],[-0.20522991415732728,-1.8830840617405609]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.07257746254889963,-1.9895493147640968,0.71338606911949],"aabb_xy":[[0.035077462605133225,-1.9978424047989332],[0.11007746249266603,-1.98125622472926]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.32539779355788445,-0.7342494362197125,0.71338606911949],"aabb_xy":[[0.2878977928933057,-0.7499364942199346],[0.3628977942224631,-0.7185623782194902]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.20721869158966577,-0.6741729651619759,0.71338606911949],"aabb_xy":[[0.19929541135091744,-0.6966729653999794],[0.2151419718284141,-0.6516729649239726]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.27039581234277227,-1.4689552792750282,0.71338606911949],"aabb_xy":[[-0.33539581022442017,-1.5200789429815693],[-0.2053958144611246,-1.4178316155684874]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[0.030373267208168464,1.769646217855739,0.71338606911949],"aabb_xy":[[0.018440532846340393,1.75726406504788],[0.04230600156999653,1.7820283706635986]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.5794784970523948,-1.209527346680489,0.71338606911949],"aabb_xy":[[-0.6169784956280155,-1.222263642344047],[-0.5419784984767739,-1.196791051016931]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.38086216752522933,0.9165323229393723,0.71338606911949],"aabb_xy":[[-0.4303425887391881,0.8525323250265204],[-0.33138174631127054,0.9805323208522241]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.6536689937662851,1.0804088072314566,0.71338606911949],"aabb_xy":[[-0.6761689940098004,1.0682041725716847],[-0.6311689935227696,1.0926134418912286]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[0.20489513091746314,1.658483051875002,0.71338606911949],"aabb_xy":[[0.16898162649247345,1.6225695436582475],[0.24080863534245284,1.6943965600917565]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.19544113376844796,1.3585660322698971,0.71338606911949],"aabb_xy":[[-0.23044113207914338,1.3508510173463515],[-0.1604411354577525,1.3662810471934428]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.2934552843576749,-1.770156136435785,0.71338606911949],"aabb_xy":[[-0.3086274536393082,-1.7853249933639885],[-0.27828311507604153,-1.7549872795075818]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.5695579761783324,-0.04893504141014837,0.71338606911949],"aabb_xy":[[-0.5999560872774758,-0.07934194341181786],[-0.5391598650791887,-0.01852813940847885]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.06743092138085882,1.1181457473817518,0.71338606911949],"aabb_xy":[[-0.08176534650702227,1.106085531827213],[-0.05309649625469537,1.1302059629362906]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.31399364770894356,-1.8286272714775913,0.71338606911949],"aabb_xy":[[0.3059673770783176,-1.837378766454944],[0.3220199183395696,-1.8198757765002387]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[0.04784678590214564,1.5717709838945848,0.71338606911949],"aabb_xy":[[-0.012153213944421148,1.514952361701546],[0.10784678574871243,1.6285896060876233]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.43208997046056163,0.6369415263710092,0.71338606911949],"aabb_xy":[[0.4058011461401209,0.6106700927163579],[0.45837879478100224,0.6632129600256603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874895030799892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1420.png","name":"1420"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1420.png","name":"1420"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4271.png","name":"4271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/53.png","name":"53"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":721.0312862791178,"rotation_z_degrees":209.89587243185323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012966079348231845,0.01033869522626209,-0.0048875365348726215]},{"name":"camera_2","offset_m":[-0.009258360651054245,-0.0020243347551064834,0.013473828966506163]},{"name":"camera_3","offset_m":[-0.004000695867129679,0.011224787836117155,-0.014973118546322644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001513994842521718,0.0015550995372075626,-0.001238951581522751],"end_effector_yaw_offset_degrees":-0.839534859625586},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014192926022288813,-0.0008021994857335595,-0.0010247081251784406],"end_effector_yaw_offset_degrees":0.43262829434545935},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003389583321149873,0.001890004365963845,0.00013484928537506324],"end_effector_yaw_offset_degrees":-0.3839719926595231}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002811660584796043,0.0006549229539286969],"position_m":[0.35611166058479604,0.2180549229539287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027708639162120274,-0.0027347509237917156],"position_m":[0.273870863916212,-0.3410347509237917,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013273507102036439,-0.002549745794072329],"position_m":[0.30302735071020365,0.37475025420592767,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007494982109076112,0.0002543623082381305],"position_m":[0.3566505017890924,0.06495436230823812,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9a535dfc377a1ceec03891ad183cc882d12b06030f09c83919d23caa7c9e61ea","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1420/tex_ceiling_textures_39/tex_floor_textures_5850/tex_table_textures_4271/tex_wall_textures_53","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8806323346419902556,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8806323346419902556,"visual_seed":8806323346419902556,"scene_id":"lab_003","finished_at":"2026-09-04T07:57:14"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T07:57:18","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.5827909395616839,1.7237312940911287,0.71338606911949],"aabb_xy":[[-0.6198250489897437,1.6893540867574193],[-0.5457568301336242,1.758108501424838]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.6135735028626406,-2.4070771645003455,0.71338606911949],"aabb_xy":[[-0.6244251091115162,-2.4179364552279967],[-0.602721896613765,-2.3962178737726942]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[0.16819731084593936,-2.180049042929745,0.71338606911949],"aabb_xy":[[0.11319731264419454,-2.220571009556182],[0.2231973090476842,-2.139527076303307]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.44668351372064574,-1.1758167062667766,0.71338606911949],"aabb_xy":[[0.38268351732507266,-1.23977999468551],[0.5106835101162188,-1.1118534178480428]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.009266028591807363,-1.5085411942535807,0.71338606911949],"aabb_xy":[[0.0032290155911426375,-1.5145678953225292],[0.015303041592472092,-1.5025144931846326]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.578549869929721,0.8084445955198634,0.71338606911949],"aabb_xy":[[-0.5986082815429612,0.7883795086107059],[-0.5584914583164806,0.828509682429021]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.1784500059428873,0.3988843752290032,0.71338606911949],"aabb_xy":[[-0.2584500070160076,0.3891063288916188],[-0.09845000486976696,0.40866242156638766]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[-0.18773209450363837,-0.8268970571714114,0.71338606911949],"aabb_xy":[[-0.2009630400383196,-0.8401244761934106],[-0.17450114896895702,-0.8136696381494117]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.23725252658152057,-2.1496720436470493,0.71338606911949],"aabb_xy":[[-0.2597172965529257,-2.1721720445259094],[-0.21478775661011545,-2.1271720427681884]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.6545068947617863,-2.414448884717007,0.71338606911949],"aabb_xy":[[0.6045338292292709,-2.46444888452954],[0.7044799602943018,-2.364448884904474]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.6209571701163001,-0.2770487842173486,0.71338606911949],"aabb_xy":[[0.570957169755734,-0.32702877142695147],[0.6709571704768661,-0.2270687970077456]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.45392216541098385,-2.3258045919707078,0.71338606911949],"aabb_xy":[[-0.4714221656703205,-2.3398961341594813],[-0.4364221651516473,-2.311713049781936]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.01421244939171995,-1.2419888073317105,0.71338606911949],"aabb_xy":[[-0.09421244679531336,-1.321981378529893],[0.06578754801187346,-1.1619962361335274]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.17747831893646215,-1.5231313454244457,0.71338606911949],"aabb_xy":[[-0.24147831919693297,-1.5681401447773735],[-0.11347831867599135,-1.4781225460715175]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.33478240321667396,0.6498575047417363,0.71338606911949],"aabb_xy":[[0.2707824061045683,0.6008251349473256],[0.39878240032877965,0.6988898745361468]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.3078535143908252,-1.2962293735977195,0.71338606911949],"aabb_xy":[[-0.3678535148986781,-1.3530761072836406],[-0.2478535138829723,-1.239382639911798]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.5309657093853419,-1.2245004083228959,0.71338606911949],"aabb_xy":[[-0.5959657094196447,-1.2712010850032234],[-0.4659657093510392,-1.1777997316425688]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[0.511698344848633,-2.2043029972475723,0.71338606911949],"aabb_xy":[[0.4881132213847381,-2.2693029994930045],[0.5352834683125278,-2.139302995002141]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.6219629530172563,1.7098844646283449,0.71338606911949],"aabb_xy":[[0.599462953007108,1.6957882449887414],[0.6444629530274045,1.723980684267948]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[0.20851779684809701,-2.275631688781239,0.71338606911949],"aabb_xy":[[0.19605043873836137,-2.2880970134145624],[0.22098515495783266,-2.2631663641479154]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.37986602869813835,-1.838637092752621,0.71338606911949],"aabb_xy":[[0.3345874138169891,-1.9026370921008045],[0.4251446435792876,-1.774637093404437]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.016394177124412268,-0.852339586149349,0.71338606911949],"aabb_xy":[[-0.03358323974084132,-0.9023395876385975],[0.06637159398966584,-0.8023395846601004]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[0.16708646773157332,-1.746009240636083,0.71338606911949],"aabb_xy":[[0.12958646723421507,-1.7499779241842013],[0.20458646822893156,-1.7420405570879642]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865170470945695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6101.png","name":"6101"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6101.png","name":"6101"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9231.png","name":"9231"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7979.png","name":"7979"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5467.png","name":"5467"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1540.png","name":"1540"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":664.075257546906,"rotation_z_degrees":124.80424882610039,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015305579456096462,0.00016261567904317722,0.01408175232926184]},{"name":"camera_2","offset_m":[-0.005509407924372626,0.002910298913649006,-0.010883854374532024]},{"name":"camera_3","offset_m":[-0.009382481606400673,-0.01932342889915363,0.011046490391180254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001092346617793736,0.0006165154858263277,0.0010847081149530442],"end_effector_yaw_offset_degrees":-0.16317092715108195},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007295561435379481,-0.001130184743350819,-0.000574068564784703],"end_effector_yaw_offset_degrees":-0.35580042816101853},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001085022785160537,-0.0005285503948667144,0.00010029157923927565],"end_effector_yaw_offset_degrees":0.2838122850146736}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004454740896709331,-0.004743655095576269],"position_m":[0.3488452591032907,0.21265634490442373,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004191833661352212,-0.0015888406753420104],"position_m":[0.2669081663386478,-0.339888840675342,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033413109069558118,-0.0022891543397590888],"position_m":[0.30504131090695585,0.37501084566024095,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004182324816282146,0.0009107387128313368],"position_m":[0.36158232481628216,0.06561073871283132,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0377775b6554947591096c035da4dc69c38e95064dbb5ba269907cf7c7690f0","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6101/tex_ceiling_textures_1540/tex_floor_textures_5467/tex_table_textures_9231/tex_wall_textures_7979","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6471472019638972018,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6471472019638972018,"visual_seed":6471472019638972018,"scene_id":"lab_003","finished_at":"2026-09-04T08:00:23"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T08:00:27","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.21808136209406526,-1.6926287095528774,0.71338606911949],"aabb_xy":[[0.16810394522881167,-1.7426287110421257],[0.26805877895931884,-1.6426287080636286]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.19676729241936042,1.4151750174287687,0.71338606911949],"aabb_xy":[[0.16245101524474248,1.365175017455591],[0.23108356959397836,1.4651750174019464]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.09768063860873,-0.6765134724688271,0.71338606911949],"aabb_xy":[[0.0076806391903591065,-0.7098889693130168],[0.1876806380271009,-0.6431379756246374]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.37132709419116255,-2.173911772454275,0.71338606911949],"aabb_xy":[[-0.3999764265515787,-2.2025573317313505],[-0.3426777618307463,-2.145266213177199]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.6421820184709098,-0.7700313547872313,0.71338606911949],"aabb_xy":[[-0.6476399641079299,-0.8500313580948903],[-0.6367240728338898,-0.6900313514795721]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.638370618022088,-0.3115577313704354,0.71338606911949],"aabb_xy":[[0.6274648419345253,-0.39155772776926456],[0.6492763941096508,-0.23155773497160625]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.16308414764273838,-2.142416516627537,0.71338606911949],"aabb_xy":[[-0.24308415090058133,-2.222413024419521],[-0.08308414438489542,-2.062420008835553]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[-0.5403733013155934,-0.8468936659932591,0.71338606911949],"aabb_xy":[[-0.5715202201591765,-0.9168936646800662],[-0.5092263824720102,-0.7768936673064518]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.4168452952635496,-0.7918980342284883,0.71338606911949],"aabb_xy":[[-0.42054855659268836,-0.7956000525372061],[-0.4131420339344107,-0.7881960159197704]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[0.5673608610690748,0.1684627324172605,0.71338606911949],"aabb_xy":[[0.5448608608255594,0.15625809775748856],[0.5898608613125902,0.18066736707703246]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.34427179926122053,-0.5591338754965967,0.71338606911949],"aabb_xy":[[0.33701055169081306,-0.5719208857601061],[0.3515330468316279,-0.5463468652330872]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.316569443854231,1.7134690966575534,0.71338606911949],"aabb_xy":[[-0.40656944357740515,1.6903957441223734],[-0.2265694441310568,1.736542449192733]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.3590263511576582,-1.794747465536428,0.71338606911949],"aabb_xy":[[-0.41902635280058004,-1.846747614828372],[-0.29902634951473633,-1.7427473162444835]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.35503638840782437,-0.9618866719492667,0.71338606911949],"aabb_xy":[[-0.3854344995069679,-0.992293573950936],[-0.3246382773086807,-0.931479769947597]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.6004946795081281,-1.139089698686517,0.71338606911949],"aabb_xy":[[-0.6361238354080878,-1.17472236544337],[-0.5648655236081683,-1.1034570319296642]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.04888309476947117,-2.5631146670244074,0.71338606911949],"aabb_xy":[[-0.031116902244776812,-2.5832492186978184],[0.12888309178371915,-2.5429801153509963]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.4857941090032165,-2.062349477690616,0.71338606911949],"aabb_xy":[[0.42179410829974723,-2.1083678601635376],[0.5497941097066859,-2.0163310952176956]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.4680508898902009,1.751024976682063,0.71338606911949],"aabb_xy":[[-0.4743629894265393,1.745258037428844],[-0.46173879035386245,1.7567919159352818]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.4593793516652074,0.20579485496219707,0.71338606911949],"aabb_xy":[[-0.5093526456684678,0.15579485440764973],[-0.40940605766194693,0.2557948555167444]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.0736475044490893,0.13553444642932222,0.71338606911949],"aabb_xy":[[-0.07961404338982508,0.12957330176995818],[-0.06768096550835351,0.14149559108868626]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.6418337208352476,-2.458028961090309,0.71338606911949],"aabb_xy":[[0.6185518786371162,-2.543028962387537],[0.6651155630333789,-2.3730289597930807]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.06922800299744136,0.8321984822225943,0.71338606911949],"aabb_xy":[[-0.11703417061121,0.7671984795155351],[-0.021421835383672715,0.897198484929653]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.6154638283718908,0.8296750579559116,0.71338606911949],"aabb_xy":[[-0.6332573353068073,0.8118753123601138],[-0.5976703214369744,0.8474748035517091]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687077951416568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8257.png","name":"8257"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8257.png","name":"8257"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9923.png","name":"9923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9734.png","name":"9734"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/937.png","name":"937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2222.png","name":"2222"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":833.9579448303466,"rotation_z_degrees":335.78524127553266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032228154139065657,-0.016553860363885287,0.006280634405896466]},{"name":"camera_2","offset_m":[-0.017783090791357915,0.011581427367493537,-0.0026355006411366184]},{"name":"camera_3","offset_m":[-0.016627574796783496,0.018844200308427244,0.01262401531595483]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015602845196971793,-6.422398925093721e-05,-0.0016293273146323456],"end_effector_yaw_offset_degrees":-0.09798763686423162},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005349626887486201,-0.00173373693014373,-0.0016588845466985948],"end_effector_yaw_offset_degrees":0.05291288158871854},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.0209674612385355e-06,0.0005206220249024144,0.0006960938516847441],"end_effector_yaw_offset_degrees":0.8063040876131318}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002307338824489431,-0.0009973747354429545],"position_m":[0.3509926611755106,0.21640262526455706,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037666769390248675,0.0019280666890745205],"position_m":[0.2748666769390249,-0.33637193331092546,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036618619715315633,-0.0017539618561876048],"position_m":[0.3053618619715316,0.37554603814381243,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030059012809068022,-0.0026790432201238856],"position_m":[0.3543940987190932,0.06202095677987611,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c9269c093354c191590ecfda9ac60a863d206dda760e128144e5f73aeae73ccc","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8257/tex_ceiling_textures_2222/tex_floor_textures_937/tex_table_textures_9923/tex_wall_textures_9734","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":587596156405985433,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":587596156405985433,"visual_seed":587596156405985433,"scene_id":"lab_003","finished_at":"2026-09-04T08:03:29"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T08:03:33","dimensions":{"distractor":{"count":33,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.3258512279953828,-1.06240465130233,0.71338606911949],"aabb_xy":[[-0.3313091736324028,-1.142404654609989],[-0.3203932823583627,-0.9824046479946709]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.3194979796035564,-2.1861380887520587,0.71338606911949],"aabb_xy":[[-0.38349798101154703,-2.2379270402759834],[-0.2554979781955657,-2.134349137228134]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.4423367539700563,-1.3110366034362881,0.71338606911949],"aabb_xy":[[-0.4541049407647139,-1.39603660334151],[-0.4305685671753989,-1.2260366035310668]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.08510674980984734,-1.1373907062191568,0.71338606911949],"aabb_xy":[[-0.10027891909148069,-1.1525595631473602],[-0.06993458052821401,-1.1222218492909535]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.552575145782395,1.1779338717000796,0.71338606911949],"aabb_xy":[[-0.6077003514119858,1.1179338702587924],[-0.49744994015280425,1.2379338731413667]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.17202173067245496,-0.8351188709665733,0.71338606911949],"aabb_xy":[[0.13956002979052748,-0.8652517030814758],[0.2044834315543824,-0.8049860388516706]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.12994194475746323,0.4067641987430446,0.71338606911949],"aabb_xy":[[-0.13806963295077646,0.39785059033233694],[-0.12181425656415001,0.41567780715375224]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.20624646670439428,-1.0597841775543277,0.71338606911949],"aabb_xy":[[0.15125098888373487,-1.1147841789882347],[0.26124194452505367,-1.0047841761204208]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.5382883838824617,-1.482069126159796,0.71338606911949],"aabb_xy":[[-0.5462823724601651,-1.490069206254886],[-0.5302943953047583,-1.4740690460647052]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.054531617722127446,-2.5065936580010337,0.71338606911949],"aabb_xy":[[-0.0715417150121781,-2.5227281464993077],[-0.037521520432076794,-2.49045916950276]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.31732765611664054,0.9668692287937577,0.71338606911949],"aabb_xy":[[-0.33047890208792996,0.9418692290370714],[-0.30417641014535124,0.9918692285504445]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.6054790988762597,-1.886586911514877,0.71338606911949],"aabb_xy":[[0.5554790978571245,-1.9230531272527054],[0.655479099895395,-1.8501206957770495]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.15407954505482868,-1.3037452318743397,0.71338606911949],"aabb_xy":[[0.13218979746588788,-1.3937452291635886],[0.17596929264376948,-1.2137452345850903]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.5149274852043965,1.371041020827835,0.71338606911949],"aabb_xy":[[-0.5254949648624955,1.3604959907148262],[-0.5043600055462975,1.3815860509408433]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[-0.17658831774004502,-1.1998024089034915,0.71338606911949],"aabb_xy":[[-0.2015883176725629,-1.206685077124415],[-0.15158831780752713,-1.1929197406825685]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.47959603683866336,-0.9381155063711366,0.71338606911949],"aabb_xy":[[0.44500495398461815,-1.0031155066561674],[0.5141871196927086,-0.8731155060861056]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.5314495182981409,-1.2318658767684552,0.71338606911949],"aabb_xy":[[0.49394951987474056,-1.2450300907362857],[0.5689495167215413,-1.2187016628006242]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[-0.1429257977019125,-2.2621326678819713,0.71338606911949],"aabb_xy":[[-0.1662076399000438,-2.3471326691791994],[-0.11964395550378114,-2.1771326665847432]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.4105128953089776,0.8818876622852261,0.71338606911949],"aabb_xy":[[0.3970663686749343,0.8684178106321347],[0.42395942194302094,0.8953575139383172]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.31887888099870043,1.473096702069007,0.71338606911949],"aabb_xy":[[0.23887887774085748,1.393100194277023],[0.3988788842565434,1.5530932098609909]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.5343652425454658,0.6227023268598058,0.71338606911949],"aabb_xy":[[-0.562694952494006,0.6182415846660887],[-0.5060355325969256,0.6271630690535228]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.46161849878788974,1.5586147451079877,0.71338606911949],"aabb_xy":[[0.44341267512664206,1.547589344525996],[0.4798243224491374,1.5696401456899793]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[-0.6633816854418264,-0.3175682078101265,0.71338606911949],"aabb_xy":[[-0.6789374548520917,-0.3331186410545337],[-0.6478259160315611,-0.3020177745657193]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.20240786326065519,-2.022282862730146,0.71338606911949],"aabb_xy":[[-0.23740786239061082,-2.0280280838058102],[-0.1674078641306995,-2.016537641654482]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.6321014162421889,-1.6432576020133258,0.71338606911949],"aabb_xy":[[-0.6415188908120516,-1.6526737791510449],[-0.6226839416723261,-1.6338414248756068]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.5599952386726549,0.396947052238255,0.71338606911949],"aabb_xy":[[-0.596789871797561,0.36004117714167266],[-0.5232006055477485,0.4338529273348372]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.11029240152425679,-0.6624466890337535,0.71338606911949],"aabb_xy":[[-0.12779240065862396,-0.6723263160713412],[-0.09279240238988962,-0.6525670619961655]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.12605780256926002,-2.2532803270599056,0.71338606911949],"aabb_xy":[[0.11901749263572306,-2.3332803264595774],[0.13309811250279704,-2.1732803276602346]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.5530240352162576,-1.3149140776841532,0.71338606911949],"aabb_xy":[[0.5449977645856318,-1.3236655726615059],[0.5610503058468838,-1.3061625827068006]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[-0.513375575467695,-1.9539616263218673,0.71338606911949],"aabb_xy":[[-0.5970978009677774,-2.0439616298565633],[-0.4296533499676125,-1.8639616227871714]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_30","position":[-0.008061600324370533,-1.9473084147777824,0.71338606911949],"aabb_xy":[[-0.03845971142351411,-1.977715316779452],[0.022336510774773048,-1.9169015127761129]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[-0.4934925494841643,-0.354512487278293,0.71338606911949],"aabb_xy":[[-0.5320382423093654,-0.39305825833448166],[-0.4549468566589633,-0.3159667162221043]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_32","position":[-0.38699314571377696,-0.13128355728396457,0.71338606911949],"aabb_xy":[[-0.4099088585988269,-0.15418785442038807],[-0.36407743282872707,-0.10837926014754107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6814427061851608,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9119.png","name":"9119"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9119.png","name":"9119"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4493.png","name":"4493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5474.png","name":"5474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6662.png","name":"6662"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8556.png","name":"8556"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":622.1791361128077,"rotation_z_degrees":28.03485264439693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005219559154631162,0.007619488734338854,0.011651669014132702]},{"name":"camera_2","offset_m":[-0.01701056364534805,0.010161792267056696,0.005100978876253083]},{"name":"camera_3","offset_m":[0.007695381549693962,-0.009477953395504906,-0.005220172340137271]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017384386963802964,-0.0013259399444510481,0.0011411955893613772],"end_effector_yaw_offset_degrees":-0.8420826333018647},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019652584810482465,-0.0016931520797060142,0.0003642959127711388],"end_effector_yaw_offset_degrees":-0.7473193999933785},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017841761646468447,-0.001181393029089214,0.00010282402247359292],"end_effector_yaw_offset_degrees":0.48207128719704895}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013626880184542242,0.00319664248932272],"position_m":[0.35466268801845424,0.22059664248932273,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003069148298306493,0.0042088688537876015],"position_m":[0.2680308517016935,-0.33409113114621236,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004437102633812183,0.00029363727760543454],"position_m":[0.29726289736618783,0.3775936372776055,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001535643920241316,0.0012057214551245898],"position_m":[0.3589356439202413,0.06590572145512458,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae0a139dd3541576ab2b552ba4a4d5804d5992e644e757668e26151f8151d3cf","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9119/tex_ceiling_textures_8556/tex_floor_textures_6662/tex_table_textures_4493/tex_wall_textures_5474","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1753897770814882109,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1753897770814882109,"visual_seed":1753897770814882109,"scene_id":"lab_003","finished_at":"2026-09-04T08:06:46"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T08:06:50","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.6233594600399724,-2.4999293525684863,0.71338606911949],"aabb_xy":[[-0.6733525721491644,-2.5499293532426823],[-0.5733663479307807,-2.449929351894291]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.05608694322423047,-1.0634577152324938,0.71338606911949],"aabb_xy":[[-0.003913056622336326,-1.1202763374255325],[0.11608694307079725,-1.006639093039455]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.49409291999436467,0.24439105250469284,0.71338606911949],"aabb_xy":[[0.4762238122399091,0.23055814452748188],[0.5119620277488202,0.25822396048190377]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.4256584695198735,1.522054670052897,0.71338606911949],"aabb_xy":[[-0.47565847088076074,1.4720767654774813],[-0.3756584681589863,1.5720325746283126]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.18037588199690213,1.3637184588574809,0.71338606911949],"aabb_xy":[[-0.24437157939199872,1.299718460556772],[-0.11638018460180555,1.4277184571581893]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.4915434487257708,-0.16737069517702352,0.71338606911949],"aabb_xy":[[0.4754815212672531,-0.2523706969896153],[0.5076053761842884,-0.08237069336443169]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.297498796275933,0.47228997730224576,0.71338606911949],"aabb_xy":[[-0.3199987967879736,0.44979811893684735],[-0.2749987957638924,0.49478183566764405]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.693473210000112,-0.02016362033222796,0.71338606911949],"aabb_xy":[[0.6895593368046895,-0.028912635738784716],[0.6973870831955344,-0.011414604925671198]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.3595109083869559,-1.7960452355826768,0.71338606911949],"aabb_xy":[[0.3486593021380802,-1.806904526310328],[0.3703625146358314,-1.785185944855026]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.142697948322554,-1.7694128473345583,0.71338606911949],"aabb_xy":[[0.08769794870080816,-1.824396540122031],[0.19769794794429985,-1.7144291545470856]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.5656997046792679,-1.2084435617728566,0.71338606911949],"aabb_xy":[[-0.5800341298054313,-1.2205037773273955],[-0.5513652795531044,-1.1963833462183178]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.3729093574957359,-1.0678627399262024,0.71338606911949],"aabb_xy":[[-0.41567606437515603,-1.1318627433480049],[-0.33014265061631565,-1.0038627365044]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.3636756010845882,-1.4391740043835053,0.71338606911949],"aabb_xy":[[-0.38117553451857156,-1.4566740043037398],[-0.3461756676506048,-1.4216740044632707]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.6108413043094989,0.08428632154795768,0.71338606911949],"aabb_xy":[[0.6048747653687631,0.07832517688859363],[0.6168078432502345,0.0902474662073217]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.636630689510844,-0.8641656658253989,0.71338606911949],"aabb_xy":[[0.6144581625341932,-0.886341332981522],[0.6588032164874948,-0.8419899986692756]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.3123931636137951,1.0255229823416165,0.71338606911949],"aabb_xy":[[0.2674005768953447,0.9805229830671678],[0.3573857503322455,1.0705229816160653]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.17271376094782553,-1.0627846196176363,0.71338606911949],"aabb_xy":[[-0.21021376111969747,-1.0954853550005434],[-0.1352137607759536,-1.030083884234729]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.015270483441215954,-0.8335891182317727,0.71338606911949],"aabb_xy":[[-0.09527048040425512,-0.9106647598755461],[0.06472951352182321,-0.7565134765879992]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.5213755914006231,0.09096097870860786,0.71338606911949],"aabb_xy":[[-0.5853755921040924,0.04494259623568685],[-0.4573755906971537,0.13697936118152887]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.5705138000802699,-2.206693106290928,0.71338606911949],"aabb_xy":[[0.5355138009503142,-2.212438327366592],[0.6055137992102255,-2.200947885215264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824086509658379,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1856.png","name":"1856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1856.png","name":"1856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2832.png","name":"2832"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9961.png","name":"9961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6548.png","name":"6548"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5117.png","name":"5117"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.4152011145345,"rotation_z_degrees":161.31167788024229,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007713034976604246,0.017732390896542608,-0.011099826968196181]},{"name":"camera_2","offset_m":[0.00999965662509231,-0.004099988702732739,0.01801701554673271]},{"name":"camera_3","offset_m":[-0.01951833968245368,0.0130179181261211,0.01311691402855535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.882428661685955e-05,0.00023514999111576588,6.032137427696609e-05],"end_effector_yaw_offset_degrees":0.031291623876772645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004970195019590364,-0.0009658892109438689,-0.0004261287340824897],"end_effector_yaw_offset_degrees":-0.5316800264244725},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00029515722846905346,0.001102625646785196,0.0015949366575409621],"end_effector_yaw_offset_degrees":-0.8870381063891097}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010379861477172788,-0.003978664421250631],"position_m":[0.3543379861477173,0.21342133557874937,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002096633178290048,0.0017335733767212492],"position_m":[0.26900336682170994,-0.33656642662327874,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017960242959327998,-0.001945483361529461],"position_m":[0.29990397570406724,0.3753545166384706,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029049872767173035,-0.0035153277501961044],"position_m":[0.3544950127232827,0.06118467224980389,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb20ed3312ffedb64686f8b0ed646c7696c266e759032d9e9ad786530521c8bf","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1856/tex_ceiling_textures_5117/tex_floor_textures_6548/tex_table_textures_2832/tex_wall_textures_9961","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":501781309514496735,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":501781309514496735,"visual_seed":501781309514496735,"scene_id":"lab_003","finished_at":"2026-09-04T08:10:03"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T08:10:07","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.21801969406385585,-1.747822011928683,0.71338606911949],"aabb_xy":[[-0.2730129054009926,-1.8028220122674767],[-0.16302648272671907,-1.6928220115898895]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.1596026953639904,1.321197024461712,0.71338606911949],"aabb_xy":[[-0.18589151968443104,1.2949255908070603],[-0.13331387104354972,1.3474684581163627]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.39294325561519683,-2.08604758453662,0.71338606911949],"aabb_xy":[[0.3696614134170655,-2.171047585833848],[0.41622509781332817,-2.0010475832393917]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.5018118818482388,0.9617634948964668,0.71338606911949],"aabb_xy":[[-0.5296569186288458,0.9309789961581553],[-0.47396684506763154,0.9925479936347786]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[-0.48146838422893995,-0.8025872726923164,0.71338606911949],"aabb_xy":[[-0.4918799429094236,-0.8079330060282147],[-0.4710568255484562,-0.7972415393564177]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[-0.4660461322877225,1.0553627486942139,0.71338606911949],"aabb_xy":[[-0.48372176287632085,1.037682532414811],[-0.4483705016991242,1.0730429649736164]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.039566341437150765,-0.6301337035013579,0.71338606911949],"aabb_xy":[[-0.06821567379756699,-0.6587792627784337],[-0.010917009076734534,-0.6014881442242821]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.026444101396994157,0.7854370869627267,0.71338606911949],"aabb_xy":[[0.0132928554257048,0.7604370872060404],[0.039595347368283525,0.8104370867194135]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.5002997219812593,-2.2148720977657557,0.71338606911949],"aabb_xy":[[0.465708639127214,-2.2798720980507863],[0.5348908048353044,-2.149872097480724]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.029766675399264475,-1.8116492356997826,0.71338606911949],"aabb_xy":[[-0.09376667268491312,-1.8531559546526266],[0.03423332188638417,-1.7701425167469387]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.2916403245403534,0.882916468341362,0.71338606911949],"aabb_xy":[[0.2713560218169546,0.862633843198653],[0.31192462726375214,0.9031990934840707]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.18953869502746934,-0.9888890087948947,0.71338606911949],"aabb_xy":[[0.1721079799484628,-1.006161123458745],[0.20696941010647582,-0.9716168941310437]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.5327034191349057,1.3969583756348962,0.71338606911949],"aabb_xy":[[-0.5435550253837812,1.3860990849072452],[-0.52185181288603,1.4078176663625472]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.5719401541426992,-2.0454951383281905,0.71338606911949],"aabb_xy":[[-0.6519401515462925,-2.1254877095263733],[-0.4919401567391057,-1.965502567130008]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.3336135019327957,1.4286072763099429,0.71338606911949],"aabb_xy":[[0.24392642562468025,1.3386072760554923],[0.42330057824091116,1.5186072765643934]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.1861489354197443,0.9842911123604821,0.71338606911949],"aabb_xy":[[0.13114893721799947,0.9437691457340444],[0.24114893362148915,1.0248130789869194]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.5245624700973731,-2.235030926906774,0.71338606911949],"aabb_xy":[[-0.530529009038109,-2.2409920715661378],[-0.5185959311566373,-2.2290697822474095]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.4388771249121154,1.247773607347506,0.71338606911949],"aabb_xy":[[-0.5188771263422425,1.1682564523348964],[-0.35887712348198814,1.3272907623601153]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.4648142177692163,1.6165426791214403,0.71338606911949],"aabb_xy":[[0.4561002487192817,1.5940426784622521],[0.47352818681915065,1.6390426797806286]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.2546794561952719,-0.6654506596166607,0.71338606911949],"aabb_xy":[[-0.31867945657280544,-0.7151959264674729],[-0.1906794558177382,-0.6157053927658483]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.08535473510189762,-1.6663313694125064,0.71338606911949],"aabb_xy":[[0.07989678946487755,-1.7463313727201657],[0.09081268073891768,-1.5863313661048475]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.016454709944384804,-0.9796579734178221,0.71338606911949],"aabb_xy":[[-0.0024296738241253966,-0.998543898198175],[0.03533909371289501,-0.9607720486374695]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.5006759229109639,-0.4841118272886149,0.71338606911949],"aabb_xy":[[0.4656759237810081,-0.48985704836427896],[0.5356759220409194,-0.47836660621295074]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.2719835100997833,-2.0989972325877684,0.71338606911949],"aabb_xy":[[0.2659464970991186,-2.1050239336567165],[0.27802052310044806,-2.0929705315188203]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[-0.6388080857633635,-0.7555855530936857,0.71338606911949],"aabb_xy":[[-0.6436516805245935,-0.7604372055726699],[-0.6339644910021336,-0.7507339006147017]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[0.44080192593472445,1.1285397637935795,0.71338606911949],"aabb_xy":[[0.3913215047207657,1.0645397658807276],[0.4902823471486833,1.1925397617064313]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_26","position":[0.16046309336336861,1.4568683710349277,0.71338606911949],"aabb_xy":[[0.1234289839353089,1.422491163701218],[0.19749720279142832,1.491245578368637]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[-0.6408898499947996,-1.1597502727667692,0.71338606911949],"aabb_xy":[[-0.6720367688383827,-1.2297502714535764],[-0.6097429311512165,-1.089750274079962]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.02674102569254877,-1.648953896623353,0.71338606911949],"aabb_xy":[[-0.08437149457981961,-1.7089538955500632],[0.030889443194722085,-1.588953897696642]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[0.25642764449479194,-1.2606520313957807,0.71338606911949],"aabb_xy":[[0.1924276425824496,-1.3165631806537914],[0.3204276464071343,-1.2047408821377705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883654142278929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9522.png","name":"9522"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4972.png","name":"4972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3732.png","name":"3732"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":646.0838515303543,"rotation_z_degrees":265.6114370072995,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018879962519055455,0.01393412547465209,0.00027675057150244875]},{"name":"camera_2","offset_m":[0.016885664374462494,0.007693893261313051,0.01559257867551361]},{"name":"camera_3","offset_m":[-0.018788836833692767,0.005578211332006634,-0.006334889217136057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005617360399660797,0.0011587350672717807,0.0011577901763572358],"end_effector_yaw_offset_degrees":-0.6659822815471004},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001673110653663792,0.0013987634808621976,-0.0010761680451294357],"end_effector_yaw_offset_degrees":0.6311368759530067},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019406122623964288,0.0007880249724766318,-0.001419084770773691],"end_effector_yaw_offset_degrees":0.37387055905558086}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014663861031353688,0.0015792104397126605],"position_m":[0.3518336138968646,0.21897921043971266,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023782277054324357,-0.004328412359704202],"position_m":[0.27347822770543245,-0.3426284123597042,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004548765242468006,-0.0007574503502793383],"position_m":[0.306248765242468,0.37654254964972067,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009598462926654616,-0.003116138060712852],"position_m":[0.3564401537073345,0.061583861939287145,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e6b477c5a7c7880f293cd015f6ae939a813e7378c818e9efa0b47594df881228","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7516/tex_ceiling_textures_3732/tex_floor_textures_4972/tex_table_textures_6615/tex_wall_textures_9522","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4355279406744847761,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4355279406744847761,"visual_seed":4355279406744847761,"scene_id":"lab_003","finished_at":"2026-09-04T08:13:20"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T08:13:24","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.36376936045401664,0.5212019359498359,0.71338606911949],"aabb_xy":[[0.30876936083227086,0.46621824316236316],[0.41876936007576254,0.5761856287373086]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.12589665265133665,-1.6853408052806338,0.71338606911949],"aabb_xy":[[-0.1428073850876784,-1.6988130108732482],[-0.10898592021499486,-1.671868599688019]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.5946852793882944,-0.6824333811418422,0.71338606911949],"aabb_xy":[[-0.6006518183290301,-0.6883945258012062],[-0.5887187404475587,-0.6764722364824781]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.05703149486490611,-1.4777970581475626,0.71338606911949],"aabb_xy":[[-0.09453149503677805,-1.5104977935304695],[-0.019531494693034168,-1.4450963227646552]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.6111123088813382,1.7726537069999977,0.71338606911949],"aabb_xy":[[0.5811447519715125,1.742653706702112],[0.6410798657911638,1.8026537072978834]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.1192809127734279,-1.6360307889371872,0.71338606911949],"aabb_xy":[[0.03555868727334542,-1.7260307924718832],[0.20300313827351035,-1.5460307854024913]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.0385842009928008,1.017904306760827,0.71338606911949],"aabb_xy":[[-0.04254468476253517,1.0102364421753065],[-0.034623717223066425,1.0255721713463477]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.39539769795972196,0.5930930585463954,0.71338606911949],"aabb_xy":[[-0.4009793695938507,0.5805930587286198],[-0.3898160263255932,0.6055930583641708]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.1794473974415124,-2.3372606150967243,0.71338606911949],"aabb_xy":[[0.16389162803124713,-2.3528110483411315],[0.19500316685177768,-2.321710181852317]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.17083530522642443,-0.6171968294303398,0.71338606911949],"aabb_xy":[[0.10083530881646259,-0.6376347650820213],[0.24083530163638617,-0.5967588937786579]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.12515117575757817,-2.1741524122574027,0.71338606911949],"aabb_xy":[[0.07515117539701209,-2.2241323994670052],[0.1751511761181442,-2.1241724250477994]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.34507118081596444,1.6377507489374081,0.71338606911949],"aabb_xy":[[-0.35482717032513833,1.6279882148781735],[-0.33531519130679055,1.6475132829966423]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.5771734972418212,0.11362946583071576,0.71338606911949],"aabb_xy":[[0.5071734956395417,0.10019667262905817],[0.6471734988441007,0.12706225903237334]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.6744699998302501,-0.041719250124814256,0.71338606911949],"aabb_xy":[[-0.6864027341920782,-0.054101402932673626],[-0.6625372654684221,-0.029337097316954885]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.08869995568210753,0.3702446589407655,0.71338606911949],"aabb_xy":[[-0.1526999573601049,0.3217272674614513],[-0.02469995400411018,0.41876205042007975]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.26075967156557,1.4871604714785867,0.71338606911949],"aabb_xy":[[-0.2716654476531327,1.4071604750797575],[-0.2498538954780073,1.5671604678774158]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.2925809193604926,-1.8316117334918143,0.71338606911949],"aabb_xy":[[0.2852986029838288,-1.9216117371013228],[0.2998632357371561,-1.7416117298823048]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.4470686368429837,-1.99375092946297,0.71338606911949],"aabb_xy":[[0.42415292395793386,-2.016655226599394],[0.46998434972803366,-1.970846632326547]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.5100301149617539,-1.535098280924456,0.71338606911949],"aabb_xy":[[0.43003011468814695,-1.6080478287501727],[0.5900301152353609,-1.4621487330987393]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.23860733275397472,-1.3975370712388824,0.71338606911949],"aabb_xy":[[0.18459173647207466,-1.4615370741311395],[0.29262292903587467,-1.3335370683466252]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.31374802684698233,-1.6348682225665587,0.71338606911949],"aabb_xy":[[-0.3480449378647229,-1.6691651087764998],[-0.27945111582924165,-1.6005713363566172]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.5129773857799451,1.0297010023823847,0.71338606911949],"aabb_xy":[[0.4951082780254896,1.0158680944051737],[0.5308464935344006,1.0435339103595958]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901077764422997,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/159.png","name":"159"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8458.png","name":"8458"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/248.png","name":"248"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":782.4847533223148,"rotation_z_degrees":231.51426444444616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012582670453230778,-0.01857914520715686,0.0047075526335171244]},{"name":"camera_2","offset_m":[-0.0010736613229072878,-8.989449079574094e-05,-0.01199370311834398]},{"name":"camera_3","offset_m":[-0.010618987169970576,0.0150748279566429,0.014297612492309108]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005430945539816143,0.0007889110667784025,0.0013472130775203932],"end_effector_yaw_offset_degrees":0.25309924507667647},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009215826312340236,-0.0015867148513527374,-0.0007209745742239636],"end_effector_yaw_offset_degrees":-0.8787624378684022},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015531471128958083,0.0010039920407020372,-0.0004453584007990817],"end_effector_yaw_offset_degrees":-0.8249690128336611}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004984630297558094,-0.0010242545692808478],"position_m":[0.3483153697024419,0.21637574543071916,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036318404250264133,0.0019524560461948006],"position_m":[0.2747318404250264,-0.3363475439538052,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004469111111445541,0.0025392898897293468],"position_m":[0.30616911111144557,0.37983928988972937,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025863798196741994,0.003565001727903707],"position_m":[0.3548136201803258,0.0682650017279037,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ca1af34b52cfc8046f79991d262eca09dfb2346bbe25391c9d1f2a9a148f648","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_747/tex_ceiling_textures_248/tex_floor_textures_8458/tex_table_textures_3853/tex_wall_textures_159","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2284921546519471664,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2284921546519471664,"visual_seed":2284921546519471664,"scene_id":"lab_003","finished_at":"2026-09-04T08:16:45"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T08:16:49","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[0.09624672640031029,-1.5561694591217985,0.71338606911949],"aabb_xy":[[0.05874672658327673,-1.5608076704329403],[0.13374672621734385,-1.5515312478106567]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.48052763030631995,-1.7573616826789964,0.71338606911949],"aabb_xy":[[0.46996015064822094,-1.7679067127920047],[0.49109510996441896,-1.7468166525659876]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.5985446961749106,0.04067560496832856,0.71338606911949],"aabb_xy":[[0.5635446969820922,0.029708558970665933],[0.6335446953677287,0.05164265096599119]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.076242236499789,0.19864015465654017,0.71338606911949],"aabb_xy":[[-0.10124223577175129,0.18229479106037783],[-0.05124223722782673,0.2149855182527025]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.2794458555922461,1.6829460400172898,0.71338606911949],"aabb_xy":[[-0.2868583111336345,1.6770948295956618],[-0.2720334000508576,1.6887972504389177]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.20983320171639752,-2.50424332798744,0.71338606911949],"aabb_xy":[[-0.22674393415273927,-2.5177155335800543],[-0.19292246928005571,-2.490771122394825]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.5814666270981036,-0.5680041507775302,0.71338606911949],"aabb_xy":[[-0.6312834065629384,-0.6180041492618336],[-0.5316498476332688,-0.5180041522932268]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.5404044340039318,1.0477605030067103,0.71338606911949],"aabb_xy":[[0.4604044318411693,0.9678053193805665],[0.6204044361666943,1.1277156866328537]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.11082786905689423,-2.120981399463277,0.71338606911949],"aabb_xy":[[0.055827869435148406,-2.17596509225075],[0.16582786867864008,-2.0659977066758044]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.3667618929437082,-2.5351157116172662,0.71338606911949],"aabb_xy":[[0.3587356223130822,-2.5438672065946193],[0.3747881635743342,-2.526364216639914]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.16597629764930122,-2.3450340712748434,0.71338606911949],"aabb_xy":[[-0.17005445555635096,-2.349115051523107],[-0.16189813974225148,-2.34095309102658]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.2415635772012269,-1.8459650492665163,0.71338606911949],"aabb_xy":[[0.2335700874059449,-1.853963181206992],[0.24955706699650895,-1.837966917326041]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.09622226322141958,-1.4415470420280958,0.71338606911949],"aabb_xy":[[0.006222264626949636,-1.457797628341517],[0.18622226181588952,-1.425296455714675]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.5734052006622843,-1.799520258854782,0.71338606911949],"aabb_xy":[[0.5601742551276029,-1.8127476778767813],[0.5866361461969655,-1.7862928398327824]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.05443173244471977,-1.0746907854113172,0.71338606911949],"aabb_xy":[[0.03656262469026427,-1.0885236933885283],[0.07230084019917526,-1.0608578774341062]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.4581457511855289,-1.7147939408119117,0.71338606911949],"aabb_xy":[[-0.5081188167180445,-1.764793940624445],[-0.40817268565301357,-1.6647939409993793]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.0035989747354815416,-0.7590982961643618,0.71338606911949],"aabb_xy":[[-0.09359897415385243,-0.7924737930085515],[0.08640102468288935,-0.725722799320172]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.22574931089804573,-1.2370189211511333,0.71338606911949],"aabb_xy":[[0.16174930855524416,-1.2819597723952656],[0.2897493132408473,-1.1920780699070006]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[0.17575345466154402,-1.0882900896827048,0.71338606911949],"aabb_xy":[[0.12576034255235213,-1.1382900903569007],[0.22574656677073593,-1.0382900890085094]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.21528413739713254,0.39166109121194825,0.71338606911949],"aabb_xy":[[-0.22791092468432883,0.38211501751037524],[-0.20265735010993613,0.40120716491352104]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.3428236042374695,1.7003295233509905,0.71338606911949],"aabb_xy":[[0.3309515212259683,1.61532952365734],[0.35469568724897055,1.7853295230446407]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.221211025545817,0.1701397959359494,0.71338606911949],"aabb_xy":[[-0.22679269717994577,0.15763979611817389],[-0.21562935391168825,0.18263979575372488]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[-0.02455083381316081,1.0609319237527575,0.71338606911949],"aabb_xy":[[-0.04198154889216731,1.0436598090889064],[-0.007120118734154301,1.078204038416608]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[0.13589611072676366,1.7121369379282414,0.71338606911949],"aabb_xy":[[0.11261426852863231,1.6271369366310133],[0.15917795292489498,1.7971369392254695]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.40010614514329895,-0.060392291704034484,0.71338606911949],"aabb_xy":[[-0.4801061484073121,-0.07395232401294782],[-0.3201061418792858,-0.04683225939512114]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.048372021698238066,-1.014190864497076,0.71338606911949],"aabb_xy":[[-0.08337202304971979,-1.0345506004538967],[-0.013372020346756329,-0.9938311285402551]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[-0.3613097679674672,0.611779264643523,0.71338606911949],"aabb_xy":[[-0.39880976831569503,0.5999878690624394],[-0.3238097676192395,0.6235706602246065]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[-0.5885265453158524,-1.150192003651732,0.71338606911949],"aabb_xy":[[-0.6585265474472819,-1.1729539692774273],[-0.5185265431844228,-1.127430038026036]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_28","position":[-0.17905687558252192,-1.9337930536889876,0.71338606911949],"aabb_xy":[[-0.19655687584185857,-1.9478845958777606],[-0.1615568753231853,-1.9197015115002154]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[0.379910071349739,-2.0479072024783878,0.71338606911949],"aabb_xy":[[0.33473875350157006,-2.111907199622926],[0.42508138919790805,-1.9839072053338493]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[0.34886966432411737,-0.8432781906361579,0.71338606911949],"aabb_xy":[[0.3379638882365546,-0.9232781870349872],[0.35977544041168,-0.7632781942373289]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850688298163575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4697.png","name":"4697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4697.png","name":"4697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8115.png","name":"8115"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7741.png","name":"7741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9680.png","name":"9680"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9033.png","name":"9033"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":561.1358858156375,"rotation_z_degrees":88.46485757395541,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026407507933861075,0.004457228519626467,-0.01618657959117723]},{"name":"camera_2","offset_m":[-0.0008093375069653276,-0.005914572861856584,-0.0031957395919508073]},{"name":"camera_3","offset_m":[-0.01620104341180346,0.0192788458442727,-0.002640012589888628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009242681293031736,-0.0013876730950006801,0.001737683331498631],"end_effector_yaw_offset_degrees":-0.7555338862667282},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011934706319841398,-0.0018504884565256892,-0.0012471323282570808],"end_effector_yaw_offset_degrees":-0.6458904460278008},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019110888015588308,-0.0009476780998862067,0.0010120476956961381],"end_effector_yaw_offset_degrees":0.11873532405132492}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003059783187214649,0.0032126903400792233],"position_m":[0.3563597831872147,0.22061269034007924,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011471415764587435,-0.000695716677499539],"position_m":[0.27224714157645874,-0.3389957166774995,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-6.980658856618489e-05,-0.002400925377954065],"position_m":[0.3016301934114338,0.37489907462204597,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004449393814447508,-0.0006755573465727438],"position_m":[0.36184939381444753,0.06402444265342724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ef8ed293087ac0a22c38633e21f7c3182559700cca5f66f6faf2bd20dbbba7d7","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4697/tex_ceiling_textures_9033/tex_floor_textures_9680/tex_table_textures_8115/tex_wall_textures_7741","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6274522793021082082,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6274522793021082082,"visual_seed":6274522793021082082,"scene_id":"lab_003","finished_at":"2026-09-04T08:20:11"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T08:20:15","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.1856994134903014,1.16727630602578,0.71338606911949],"aabb_xy":[[0.1357045805623598,1.1172763071305365],[0.235694246418243,1.2172763049210236]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.24397598994277803,0.8896357717662129,0.71338606911949],"aabb_xy":[[0.16397599292853002,0.8695012200928016],[0.323975986957026,0.9097703234396242]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.329863273664287,-2.3690379689659955,0.71338606911949],"aabb_xy":[[0.2698632728034741,-2.4204643989724812],[0.3898632745250997,-2.317611538959509]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.4342224712857366,-0.65978517135344,0.71338606911949],"aabb_xy":[[-0.446849258572933,-0.6693312450550127],[-0.4215956839985403,-0.6502390976518669]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.19504895567342395,1.5274028123694419,0.71338606911949],"aabb_xy":[[-0.21754895618546455,1.5049109540040433],[-0.17254895516138335,1.54989467073484]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.5723713450806722,0.857958713143737,0.71338606911949],"aabb_xy":[[0.5619597864001885,0.8526129798078382],[0.5827829037611559,0.8633044464796352]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.5709996740998315,-0.30970661749023254,0.71338606911949],"aabb_xy":[[0.563005685522128,-0.3177066975853229],[0.5789936626775348,-0.3017065373951422]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5355296812993453,-0.14521840161262345,0.71338606911949],"aabb_xy":[[-0.6255296780349555,-0.19840186492991796],[-0.4455296845637351,-0.09203493829532894]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.2897891292260984,-0.5900202962023968,0.71338606911949],"aabb_xy":[[-0.29720158476748687,-0.5958715066240248],[-0.2823766736847099,-0.5841690857807689]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.6096137187898318,-1.8618616962061454,0.71338606911949],"aabb_xy":[[0.6019105281157547,-1.8695710669048833],[0.6173169094639087,-1.854152325507407]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.22229828399125173,0.6022535133710054,0.71338606911949],"aabb_xy":[[0.20409246033000406,0.5912281127890139],[0.2405041076524994,0.6132789139529972]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.13136678056683682,1.739634165516096,0.71338606911949],"aabb_xy":[[-0.1863405026031697,1.6846341659518629],[-0.07639305853050393,1.7946341650803292]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.3661865765039847,-0.7054290545377297,0.71338606911949],"aabb_xy":[[0.34629553662364443,-0.7180848658224266],[0.386077616384325,-0.6927732432530329]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.16310345355899736,-1.036529958002575,0.71338606911949],"aabb_xy":[[0.12878717638437942,-1.086529957975753],[0.1974197307336153,-0.9865299580293976]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.38399731978721446,0.13409212216477018,0.71338606911949],"aabb_xy":[[-0.4253018628509504,0.0700921225966531],[-0.3426927767234784,0.19809212173288726]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.0865863255153132,-1.4810653304745132,0.71338606911949],"aabb_xy":[[0.02258632524133497,-1.5311314306718014],[0.15058632578929143,-1.4309992302772254]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.1906482356937823,-1.7894300916400319,0.71338606911949],"aabb_xy":[[-0.23283264985461308,-1.8534300919172433],[-0.1484638215329516,-1.7254300913628209]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.4464370587964883,1.7280157781550254,0.71338606911949],"aabb_xy":[[-0.44987773503654555,1.724154345180661],[-0.4429963825564312,1.7318772111293899]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.19912356430325162,1.0896022886727708,0.71338606911949],"aabb_xy":[[-0.28412356299532626,1.057616425277892],[-0.11412356561117698,1.1215881520676496]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[-0.5689903237187177,0.647834048286386,0.71338606911949],"aabb_xy":[[-0.605784956843624,0.6109281731898036],[-0.5321956905938114,0.6847399233829682]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.26506132644508756,-0.4829478349243903,0.71338606911949],"aabb_xy":[[-0.33506132908167385,-0.5030526999202558],[-0.19506132380850116,-0.46284296992852475]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.6042203649210454,-1.0420377923513922,0.71338606911949],"aabb_xy":[[-0.6842203663511724,-1.1215549473640016],[-0.524220363490918,-0.9625206373387827]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.3711358118187635,-2.382534816298116,0.71338606911949],"aabb_xy":[[-0.42876628070603423,-2.4425348152248265],[-0.31350534293149257,-2.3225348173714053]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.30109452966611666,1.6533829773724258,0.71338606911949],"aabb_xy":[[-0.3310620865759423,1.62338297707454],[-0.271126972756291,1.6833829776703115]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.3996022098663141,-0.8978098292181274,0.71338606911949],"aabb_xy":[[0.38180870293139774,-0.9156095748139251],[0.4173957168012306,-0.8800100836223298]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[0.5140666558671811,1.6365769987583776,0.71338606911949],"aabb_xy":[[0.4340666526093381,1.5565804909663936],[0.594066659125024,1.7165735065503616]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.607930020444626,-1.371511044481598,0.71338606911949],"aabb_xy":[[-0.6210812664159153,-1.3965110442382846],[-0.5947787744733366,-1.3465110447249116]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[-0.5328229685252015,-1.9519838331861878,0.71338606911949],"aabb_xy":[[-0.5456948720261415,-2.031983833600023],[-0.5199510650242612,-1.8719838327723513]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.5809624646037629,0.5600225407595376,0.71338606911949],"aabb_xy":[[-0.6159624637337185,0.5542773196838734],[-0.5459624654738072,0.5657677618352016]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[-0.2926236881715172,-1.0006993202228571,0.71338606911949],"aabb_xy":[[-0.29903750181470207,-1.0071091404705252],[-0.2862098745283322,-0.9942894999751887]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[0.5919170392892013,-1.4557723677952548,0.71338606911949],"aabb_xy":[[0.5419177641207652,-1.505772369071202],[0.6419163144576375,-1.4057723665193076]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.2320203587632484,-0.7838363266870925,0.71338606911949],"aabb_xy":[[-0.25493607164829835,-0.8067406238235162],[-0.20910464587819855,-0.7609320295506692]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_32","position":[-0.01497680908955723,-1.6682766114051903,0.71338606911949],"aabb_xy":[[-0.0305325784998225,-1.6838270446495978],[0.0005789603207080348,-1.6527261781607834]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_33","position":[0.4469660620274263,0.362208993766461,0.71338606911949],"aabb_xy":[[0.4393417939372481,0.35457577022991726],[0.4545903301176046,0.3698422173030047]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878175371771894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/695.png","name":"695"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/695.png","name":"695"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5911.png","name":"5911"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6022.png","name":"6022"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1509.png","name":"1509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1156.png","name":"1156"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":517.033188807705,"rotation_z_degrees":330.62063619895326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014271054493617506,0.01020693377851229,-0.005800206317078432]},{"name":"camera_2","offset_m":[0.00029477657153132233,0.004761900342643094,-0.012286092187253761]},{"name":"camera_3","offset_m":[0.003230717882521321,0.016961615253241708,-0.012923299116579159]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001124600794045495,-0.0018136871937358512,-0.0013654550156571056],"end_effector_yaw_offset_degrees":-0.2473201319645264},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006847130016877927,0.0003901553594322406,0.0018961215720678338],"end_effector_yaw_offset_degrees":0.5479747260910164},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007371246594068967,-0.0004061584939686455,0.0015495708018303535],"end_effector_yaw_offset_degrees":0.6717635032577469}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033087671852817828,0.000870936020818557],"position_m":[0.3566087671852818,0.21827093602081857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049735661926221765,0.0014785912296970682],"position_m":[0.2661264338073778,-0.3368214087703029,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003055098318656176,0.0005220865331981954],"position_m":[0.3047550983186562,0.3778220865331982,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004055137099006041,0.004561296524452974],"position_m":[0.35334486290099393,0.06926129652445297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d05081f8c6bb984e9bc7a5c314c17064269550d3d9fffc2b1bbfeef3f1b22514","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_695/tex_ceiling_textures_1156/tex_floor_textures_1509/tex_table_textures_5911/tex_wall_textures_6022","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7038440480469177814,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7038440480469177814,"visual_seed":7038440480469177814,"scene_id":"lab_003","finished_at":"2026-09-04T08:23:19"}
+{"episode_id":"ep_000086","started_at":"2026-09-04T08:23:24","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.4356620575923724,-0.2177941848804914,0.71338606911949],"aabb_xy":[[0.417868550657456,-0.23559393047628907],[0.45345556452728886,-0.19999443928469374]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.4421990655930436,-0.8990742615683984,0.71338606911949],"aabb_xy":[[-0.4789936987179499,-0.9359801366649807],[-0.40540443246813734,-0.8621683864718162]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.09681134778155309,-2.1987655287386856,0.71338606911949],"aabb_xy":[[0.07434657781014797,-2.2212655296175456],[0.11927611775295821,-2.1762655278598246]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.6498384645238402,-1.5682424853130628,0.71338606911949],"aabb_xy":[[-0.684838464500336,-1.5777071013606794],[-0.6148384645473444,-1.5587778692654461]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[0.4204187505581245,-2.385800875480335,0.71338606911949],"aabb_xy":[[0.34041875197080507,-2.4651164774184955],[0.5004187491454439,-2.3064852735421737]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.14698121834866262,-2.177893506383352,0.71338606911949],"aabb_xy":[[-0.15713423390281198,-2.2139630479560917],[-0.13682820279451322,-2.141823964810611]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.12255769500679192,-1.4744130217499192,0.71338606911949],"aabb_xy":[[0.08505769450943369,-1.4783817052980373],[0.16005769550415017,-1.4704443382018006]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.22231261397014357,-0.23201092262740097,0.71338606911949],"aabb_xy":[[-0.25981261407573647,-0.23883308448038204],[-0.18481261386455058,-0.2251887607744198]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.06628875188844363,1.1741262763673808,0.71338606911949],"aabb_xy":[[-0.07333020283919123,1.1670995246295865],[-0.059247300937696035,1.1811530281051754]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.07576334329341872,-0.8649701226534479,0.71338606911949],"aabb_xy":[[0.07168518538636898,-0.8690511029017111],[0.07984150120046846,-0.8608891424051844]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.17852950662212808,-1.2836599363093388,0.71338606911949],"aabb_xy":[[-0.2425295099118362,-1.3269948553132564],[-0.11452950333241997,-1.2403250173054212]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.029597291909779222,-1.9698249987874588,0.71338606911949],"aabb_xy":[[-0.099597288319741,-1.99026293443914],[0.040402704500182574,-1.9493870631357766]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.3255420373894281,0.8286837351160088,0.71338606911949],"aabb_xy":[[-0.3677264515502589,0.7646837348387977],[-0.2833576232285974,0.8926837353932201]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.3814978960564306,-2.1787016449330316,0.71338606911949],"aabb_xy":[[0.3697297092617731,-2.2637016448382536],[0.3932660828510882,-2.0937016450278105]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.257940983523831,-1.9541725014835816,0.71338606911949],"aabb_xy":[[0.216636440460095,-2.0181725010516987],[0.299245526587567,-1.8901725019154647]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.44416053413049283,0.6476320426365465,0.71338606911949],"aabb_xy":[[0.42661383921437396,0.6101320410722952],[0.4617072290466118,0.6851320442007978]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.3703775073239537,-1.7057823914910983,0.71338606911949],"aabb_xy":[[0.3577507200367573,-1.7153284651926712],[0.38300429461115,-1.6962363177895254]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.5277994679111404,-0.7088563882797247,0.71338606911949],"aabb_xy":[[0.4477994692542543,-0.7233612472039876],[0.6077994665680263,-0.6943515293554621]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.37258388007341364,-1.824908512884881,0.71338606911949],"aabb_xy":[[-0.43658388148140426,-1.8766974644088057],[-0.3085838786654229,-1.7731195613609563]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.21817923910998904,-2.4527707893648385,0.71338606911949],"aabb_xy":[[0.1541792398158208,-2.5167569297336927],[0.28217923840415726,-2.3887846489959843]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.13018071191275649,-0.04118690174656425,0.71338606911949],"aabb_xy":[[-0.19418071425555805,-0.08612775299069675],[-0.06618070956995493,0.0037539494975682357]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.5428130318777578,-0.24760593619554605,0.71338606911949],"aabb_xy":[[0.5308802975159297,-0.2599880890034054],[0.5547457662395858,-0.23522378338768668]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.3613663934517787,0.6428972000496063,0.71338606911949],"aabb_xy":[[-0.3650696547809175,0.6391951817408884],[-0.3576631321226397,0.6465992183583241]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[0.20051521024121732,-2.1597852569235187,0.71338606911949],"aabb_xy":[[0.18023090751781856,-2.1800678820662274],[0.22079951296461608,-2.13950263178081]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.4349878046859641,1.2870720805460776,0.71338606911949],"aabb_xy":[[0.4206533795598007,1.2750118649915387],[0.4493222298121276,1.2991322961006164]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[-0.21886441426328568,0.558963293355534,0.71338606911949],"aabb_xy":[[-0.22977019035084836,0.4789632969567047],[-0.20795863817572294,0.638963289754363]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.09761365057866145,-2.444562279031043,0.71338606911949],"aabb_xy":[[0.08883242343142524,-2.4533420263195738],[0.1063948777258977,-2.4357825317425132]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.4637025347526702,-1.8827178943603964,0.71338606911949],"aabb_xy":[[0.4262025332370385,-1.8939446673765412],[0.5012025362683019,-1.871491121344251]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.54326722097786,0.9607896002522858,0.71338606911949],"aabb_xy":[[-0.5782672201078156,0.9550443791766215],[-0.5082672218479043,0.9665348213279498]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[0.5299112134182631,-1.33155053535652,0.71338606911949],"aabb_xy":[[0.5098528018050228,-1.3516156222656774],[0.5499696250315034,-1.3114854484473626]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[0.5956624614285815,-0.003930034245214653,0.71338606911949],"aabb_xy":[[0.5316624593788495,-0.04402451733452262],[0.6596624634783135,0.03616444884409331]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899038610977883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3418.png","name":"3418"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5501.png","name":"5501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4013.png","name":"4013"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":771.1933511660466,"rotation_z_degrees":156.1462947925967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011940424506734475,0.007673438659356033,0.014401356521255532]},{"name":"camera_2","offset_m":[-0.017897522558233618,-0.007070930735500244,0.004897064010480762]},{"name":"camera_3","offset_m":[0.01896649921461978,-0.01631167678056406,-0.016205941476018594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.224586562088782e-06,-0.0014358840026601003,0.0006153241887587434],"end_effector_yaw_offset_degrees":-0.42910612796794445},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016194390898973511,0.0017804324908897089,0.0007426410679964453],"end_effector_yaw_offset_degrees":0.9785427026101836},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016886809588884577,-3.1897307651306255e-05,-0.0018159058620499655],"end_effector_yaw_offset_degrees":0.6671499957710898}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00460315967201533,0.0033618094001957406],"position_m":[0.34869684032798465,0.22076180940019574,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046650863983897445,-0.004285979122315562],"position_m":[0.27576508639838976,-0.34258597912231553,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032225083505676043,0.003708790687198105],"position_m":[0.3049225083505676,0.3810087906871981,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012706747265112048,-0.0028895598155864646],"position_m":[0.3586706747265112,0.06181044018441353,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8cf823e888c18f394865112378f0122412637d11e15e0c6434b4d44c9af43c26","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9266/tex_ceiling_textures_4013/tex_floor_textures_7931/tex_table_textures_3418/tex_wall_textures_5501","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8813600529343676403,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8813600529343676403,"visual_seed":8813600529343676403,"scene_id":"lab_003","finished_at":"2026-09-04T08:26:23"}
+{"episode_id":"ep_000087","started_at":"2026-09-04T08:26:26","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.6711318755195539,-2.1104271463355517,0.71338606911949],"aabb_xy":[[0.6559690025426169,-2.1255926036306705],[0.6862947484964911,-2.095261689040433]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.4799453288914956,-1.0227872619519833,0.71338606911949],"aabb_xy":[[-0.5249453303577246,-1.0677871188134642],[-0.43494532742526687,-0.9777874050905029]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.5077721319736834,-2.2125396589470276,0.71338606911949],"aabb_xy":[[0.4526469263440926,-2.2725396603883143],[0.5628973376032741,-2.15253965750574]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.42111374829618775,-0.5213605545441968,0.71338606911949],"aabb_xy":[[0.39861374805267236,-0.5335651892039688],[0.44361374853970315,-0.5091559198844249]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.3416074889826769,-0.6304392599498281,0.71338606911949],"aabb_xy":[[-0.34802130262586173,-0.6368490801974963],[-0.33519367533949185,-0.6240294397021596]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.19663529086287135,-1.5036924188679572,0.71338606911949],"aabb_xy":[[0.10694821455475587,-1.5936924191224078],[0.2863223671709868,-1.4136924186135067]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.43391531480745793,-1.4115185082365498,0.71338606911949],"aabb_xy":[[0.4206843692727766,-1.424745927258549],[0.44714626034213917,-1.3982910892145501]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.24420937468162307,-0.9710871678219088,0.71338606911949],"aabb_xy":[[0.2326403939346865,-0.9960871679388407],[0.25577835542855965,-0.9460871677049772]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.48145261465869527,-1.357699993556851,0.71338606911949],"aabb_xy":[[-0.539083083545966,-1.4176999924835616],[-0.4238221457714243,-1.2976999946301404]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.4196709233049216,1.3303723296557788,0.71338606911949],"aabb_xy":[[0.35567092303094344,1.280306229458491],[0.4836709235788999,1.380438429853067]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.33666069735713644,0.8954046056492801,0.71338606911949],"aabb_xy":[[-0.35452980511159193,0.8815716976720691],[-0.31879158960268095,0.909237513626491]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.5822995811425857,-2.296705918933929,0.71338606911949],"aabb_xy":[[-0.6322769980078391,-2.3467059204231773],[-0.5323221642773319,-2.24670591744468]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.6024529632842393,-1.022956457311937,0.71338606911949],"aabb_xy":[[0.5823945516709989,-1.0430215442210944],[0.6225113748974794,-1.0028913704027795]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.007632880264457964,1.0244621129107463,0.71338606911949],"aabb_xy":[[-0.030132880274606255,1.010365893271143],[0.014867119745690327,1.0385583325503496]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.14917648621017265,-2.143186346608945,0.71338606911949],"aabb_xy":[[0.10309139495544119,-2.2071863438615],[0.19526157746490413,-2.0791863493563896]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.0866073204065021,-1.5136716762707594,0.71338606911949],"aabb_xy":[[-0.09837550720115965,-1.5986716761759812],[-0.07483913361184459,-1.4286716763655378]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.5854539775030883,0.1474500529344187,0.71338606911949],"aabb_xy":[[-0.6079539773169906,0.14297543656393805],[-0.5629539776891859,0.15192466930489942]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.6154246967335986,-1.0516484619010833,0.71338606911949],"aabb_xy":[[-0.6313091899989238,-1.0660014021999071],[-0.5995402034682735,-1.037295521602259]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.4215666513509466,0.4454246552138734,0.71338606911949],"aabb_xy":[[0.40406665109161,0.4313331130251009],[0.43906665161028324,0.45951619740264615]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.37569157359953564,0.5483460703315197,0.71338606911949],"aabb_xy":[[0.35069157404779716,0.538203586466385],[0.4006915731512741,0.5584885541966544]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.1498611577706206,0.9432691019948645,0.71338606911949],"aabb_xy":[[0.09486115814887475,0.888285409207392],[0.20486115739236643,0.9982527947823374]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.38604652341989776,0.7211640705503357,0.71338606911949],"aabb_xy":[[0.336229743955063,0.6711640720660323],[0.4358633028847325,0.7711640690346391]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.1384875936493668,-0.8911443670217996,0.71338606911949],"aabb_xy":[[-0.17598759359313318,-0.899437457056636],[-0.10098759370560037,-0.8828512769869629]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[0.3884748483473599,-2.5248838125126496,0.71338606911949],"aabb_xy":[[0.33348259771184896,-2.5798838142559624],[0.4434670989828709,-2.469883810769337]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.6539949354931831,-1.7147179500424357,0.71338606911949],"aabb_xy":[[-0.6612561830635906,-1.7275049603059454],[-0.6467336879227756,-1.7019309397789264]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[0.03843364425744633,-2.5795775582012026,0.71338606911949],"aabb_xy":[[0.0009336441518533813,-2.586399720054183],[0.07593364436303929,-2.5727553963482213]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.14130899989706325,0.6817491648584033,0.71338606911949],"aabb_xy":[[0.1188442299256581,0.6592491639795428],[0.16377376986846834,0.7042491657372638]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[-0.27431305647266424,-1.6322246126546327,0.71338606911949],"aabb_xy":[[-0.3243078894006059,-1.6822246115498762],[-0.2243182235447227,-1.5822246137593892]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.36760969520629744,1.2696833529430829,0.71338606911949],"aabb_xy":[[-0.44760969318708255,1.262081811981231],[-0.28760969722551244,1.2772848939049348]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[-0.0017640652895398734,0.9191359435986262,0.71338606911949],"aabb_xy":[[-0.011057683526690454,0.8816359451104923],[0.007529552947610707,0.9566359420867601]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[0.061185031287023794,1.5253378635679415,0.71338606911949],"aabb_xy":[[0.04427429885068201,1.5118656579753267],[0.07809576372336556,1.538810069160556]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_31","position":[0.2487918559462018,-1.8073185853835396,0.71338606911949],"aabb_xy":[[0.21287835152121204,-1.843232093600294],[0.28470536037119143,-1.7714050771667849]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[-0.6274188709004185,-0.8103513860178564,0.71338606911949],"aabb_xy":[[-0.6608980381614594,-0.8438304993889634],[-0.5939397036393775,-0.7768722726467494]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.684197301469188,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3059.png","name":"3059"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":774.3093410039517,"rotation_z_degrees":149.0624410762761,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019391559010064882,0.002948135306715619,0.007155831796043965]},{"name":"camera_2","offset_m":[0.0016166973045951757,-0.0012101567523197347,0.004942942281120088]},{"name":"camera_3","offset_m":[0.017291837459193073,0.015562452333000656,0.012125567731006457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010694727396488258,5.468537189466183e-05,-0.0016385152203540496],"end_effector_yaw_offset_degrees":0.9862321314615934},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010973291824026687,-0.001968368357004853,0.00037024711795127134],"end_effector_yaw_offset_degrees":0.38295486239018706},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007239393565308607,0.001804573268644861,-2.8464926539708852e-05],"end_effector_yaw_offset_degrees":0.7747432081830168}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038685336671539046,0.004446828434197639],"position_m":[0.3571685336671539,0.22184682843419765,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007130121969418819,0.002752362500225366],"position_m":[0.27181301219694187,-0.3355476374997746,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009390734638712222,-0.0028531725429411926],"position_m":[0.30263907346387126,0.3744468274570588,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029318092831991495,0.004614372073424578],"position_m":[0.36033180928319913,0.06931437207342457,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad314424fd9236740df4be5e709cc4ce84a503384aaf5e718a6e29b05e294d40","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2080/tex_ceiling_textures_8859/tex_floor_textures_5329/tex_table_textures_7868/tex_wall_textures_3059","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4003698204431413992,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4003698204431413992,"visual_seed":4003698204431413992,"scene_id":"lab_003","finished_at":"2026-09-04T08:29:29"}
+{"episode_id":"ep_000088","started_at":"2026-09-04T08:29:33","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.4334048968458943,1.3780239493610869,0.71338606911949],"aabb_xy":[[-0.4510805274344926,1.3603437330816839],[-0.41572926625729595,1.3957041656404894]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.044636439513324744,-1.970131153966843,0.71338606911949],"aabb_xy":[[0.026430615852077066,-1.9811565545488348],[0.06284226317457242,-1.9591057533848515]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.34806360815820236,-1.131949436261277,0.71338606911949],"aabb_xy":[[-0.3606903954453987,-1.1414955099628499],[-0.335436820871006,-1.122403362559704]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.3232435690006623,0.5792718059889346,0.71338606911949],"aabb_xy":[[0.2432435703437763,0.5647669470646718],[0.4032435676575483,0.5937766649131974]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.5996608640940279,0.3385446759325861,0.71338606911949],"aabb_xy":[[-0.6371608647586064,0.32285761793236384],[-0.562160863429449,0.3542317339328082]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.4704706321808094,1.1165845252365543,0.71338606911949],"aabb_xy":[[0.4064706348951608,1.0750778062837103],[0.5344706294664581,1.1580912441893982]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.3259096105584581,-2.232706543719875,0.71338606911949],"aabb_xy":[[-0.3340232652318352,-2.2408123601739036],[-0.31779595588508097,-2.224600727265846]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.5957272399550329,-2.192229702960468,0.71338606911949],"aabb_xy":[[0.5848756337061572,-2.2030889936881186],[0.6065788462039085,-2.181370412232817]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.7095973267683788,0.6293450970647516,0.71338606911949],"aabb_xy":[[0.6986915506808161,0.5493451006659223],[0.7205031028559415,0.7093450934635807]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.26779844050199875,-1.7145562493481084,0.71338606911949],"aabb_xy":[[-0.27175892427173315,-1.722224113933629],[-0.26383795673226446,-1.7068883847625878]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.12126762213279707,-2.3106833797775486,0.71338606911949],"aabb_xy":[[0.1138551665914086,-2.3165345901991765],[0.12868007767418554,-2.3048321693559206]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.5672161116117864,-2.4692897176901125,0.71338606911949],"aabb_xy":[[-0.5751393918505348,-2.491789717928116],[-0.5592928313730381,-2.446789717452109]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[0.007865242763301583,0.9861999134428614,0.71338606911949],"aabb_xy":[[-0.029634757528873235,0.9821584380422579],[0.0453652430554764,0.9902413888434651]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.05577270870461015,0.2193555494377497,0.71338606911949],"aabb_xy":[[-0.10577270906517622,0.16937556222814676],[-0.005772708344044099,0.26933553664735266]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.3064393113109689,-0.960203994755882,0.71338606911949],"aabb_xy":[[0.28900859623196234,-0.9774761094197328],[0.32387002638997536,-0.9429318800920312]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.6078800180629016,1.685106778966841,0.71338606911949],"aabb_xy":[[0.5278800148050585,1.605110271174857],[0.6878800213207444,1.765103286758825]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.2972300232973685,-1.9781796698079146,0.71338606911949],"aabb_xy":[[0.2916483516632397,-1.9906796696256897],[0.30281169493149723,-1.9656796699901387]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.3001653702267507,0.989513784739187,0.71338606911949],"aabb_xy":[[-0.3313122890703338,0.91951378605238],[-0.26901845138316755,1.0595137834259942]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.5407898225278338,-1.8885932555007656,0.71338606911949],"aabb_xy":[[0.49081240566258016,-1.9385932569900135],[0.5907672393930873,-1.8385932540115164]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.5673496360442718,1.227184063774346,0.71338606911949],"aabb_xy":[[0.5593561462489899,1.2191859318338707],[0.5753431258395539,1.235182195714822]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.6456015401940043,-0.9189194455947245,0.71338606911949],"aabb_xy":[[0.5957847607291695,-0.9689194440790277],[0.695418319658839,-0.868919447110421]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.36283833821530515,-2.3114791800880807,0.71338606911949],"aabb_xy":[[-0.3780012111922423,-2.3266446373832],[-0.34767546523836806,-2.2963137227929624]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.348087456176653,0.4021901455468355,0.71338606911949],"aabb_xy":[[-0.3855874569686484,0.3958223045886455],[-0.3105874553846575,0.40855798650502567]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[-0.06985974316987287,-0.12214468229862208,0.71338606911949],"aabb_xy":[[-0.12985974342127404,-0.1764260073350867],[-0.009859742918471692,-0.06786335726215739]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.45891070581763915,-0.8255522010949765,0.71338606911949],"aabb_xy":[[0.3939107072605663,-0.8553047345088591],[0.523910704374712,-0.7957996676810939]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.3123629310235614,1.7233507774690966,0.71338606911949],"aabb_xy":[[0.28607410670312067,1.6970793438144451],[0.338651755344002,1.7496222111237476]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.3262762010411395,-1.7565213688293424,0.71338606911949],"aabb_xy":[[0.2762973925308236,-1.806521368835061],[0.37625500955145535,-1.7065213688236234]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.6051484765399014,-0.6222863970244881,0.71338606911949],"aabb_xy":[[-0.6691484738422477,-0.6666528239923449],[-0.5411484792375549,-0.5779199700566314]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[-0.5286893241978005,1.5346305835819813,0.71338606911949],"aabb_xy":[[-0.5838145298273912,1.474630582140694],[-0.47356411856820974,1.5946305850232683]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874640271483118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8476.png","name":"8476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9470.png","name":"9470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3874.png","name":"3874"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":722.3809362007153,"rotation_z_degrees":307.9971651060057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01342631761501752,0.011953808801538252,-0.010622545398106777]},{"name":"camera_2","offset_m":[0.012354600701288899,0.012762821751471181,0.002375858503191098]},{"name":"camera_3","offset_m":[-0.005418032794102858,-0.010508233194689073,0.007471777822234921]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00014893001891248575,-0.001795850351038216,-0.0012189096014104356],"end_effector_yaw_offset_degrees":-0.9119028405111456},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006383044377617302,-0.001249321375789781,-0.0011351809128151396],"end_effector_yaw_offset_degrees":-0.28394277061624673},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016134484573524224,6.511542529841511e-05,0.0002997764374519482],"end_effector_yaw_offset_degrees":0.3493305475813533}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004673407160740032,0.004581498887893686],"position_m":[0.34862659283925995,0.2219814988878937,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004661971342839861,0.0006486827458305651],"position_m":[0.27576197134283986,-0.3376513172541694,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004260362777707528,0.0022796419018700767],"position_m":[0.2974396372222925,0.3795796419018701,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028954987402790467,-0.003662823294597368],"position_m":[0.35450450125972094,0.061037176705402624,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e5383a2cc05366f5b3ef3cf8e00349cdf36342f5bdf07053b90ffce4fa3a8fd6","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1292/tex_ceiling_textures_3874/tex_floor_textures_9470/tex_table_textures_7381/tex_wall_textures_8476","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":9204690210485915616,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":9204690210485915616,"visual_seed":9204690210485915616,"scene_id":"lab_003","finished_at":"2026-09-04T08:32:31"}
+{"episode_id":"ep_000089","started_at":"2026-09-04T08:32:35","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[0.3056692399005221,-0.603614061903966,0.71338606911949],"aabb_xy":[[0.2896073124420044,-0.6886140637165578],[0.32173116735903967,-0.5186140600913741]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.3748844279494916,-2.0215342726463743,0.71338606911949],"aabb_xy":[[0.3298844264832628,-2.066534129507855],[0.4198844294157206,-1.9765344157848936]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.2718837491467645,-2.331274635566559,0.71338606911949],"aabb_xy":[[-0.2968837484187268,-2.347619999162721],[-0.24688374987480224,-2.314929271970396]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.1002967465273581,1.0709821245220743,0.71338606911949],"aabb_xy":[[-0.1099283827477877,1.0613448117423654],[-0.09066511030692846,1.0806194373017832]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.0909667522878671,1.0780855320595801,0.71338606911949],"aabb_xy":[[0.07346681885388372,1.0605855321393454],[0.10846668572185046,1.0955855319798145]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.056498638541062296,0.013637737621838841,0.71338606911949],"aabb_xy":[[-0.09399863864665525,0.006815575768857717],[-0.018998638435469343,0.02045989947481996]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[0.6749208500534516,-1.063829803357557,0.71338606911949],"aabb_xy":[[0.6573741551373327,-1.1013298049218083],[0.6924675449695705,-1.0263298017933058]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.031246134097253853,-1.4738037068898313,0.71338606911949],"aabb_xy":[[-0.1112461320780389,-1.4814052478516833],[0.04875386388353119,-1.4662021659279794]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.17843799110391168,-0.6781883111423823,0.71338606911949],"aabb_xy":[[0.12844487899471982,-0.7281883118165778],[0.22843110321310361,-0.6281883104681866]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.3105107768477735,-1.4575376530521298,0.71338606911949],"aabb_xy":[[-0.3745107732750954,-1.5047072768742265],[-0.2465107804204516,-1.4103680292300336]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.5924724155040105,-1.761343130875329,0.71338606911949],"aabb_xy":[[-0.6574724133856583,-1.8124667945818702],[-0.5274724176223627,-1.7102194671687885]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.5657867180770018,-0.5764742998704016,0.71338606911949],"aabb_xy":[[0.5371373857165854,-0.6051198591474773],[0.5944360504374179,-0.5478287405933258]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[0.685869375290824,0.4722741543637001,0.71338606911949],"aabb_xy":[[0.6805368606362111,0.46694982611846453],[0.6912018899454372,0.4775984826089357]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.17114398574092882,-0.8682843957500206,0.71338606911949],"aabb_xy":[[0.14864398592702643,-0.8727590121205013],[0.1936439855548312,-0.8638097793795398]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.23831908548693892,0.9950297175492064,0.71338606911949],"aabb_xy":[[0.22081908635257172,0.9851500905116186],[0.25581908462130604,1.0049093445867943]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.009893421154809401,1.739136142807371,0.71338606911949],"aabb_xy":[[-0.03017772387820816,1.718853517664662],[0.010390881568589359,1.7594187679500797]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.07030275345982351,-0.9644282498314753,0.71338606911949],"aabb_xy":[[0.032802753516057104,-0.9727213398663119],[0.10780275340358991,-0.9561351597966388]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.7075178116419298,-2.2325542509799123,0.71338606911949],"aabb_xy":[[0.7002565640715224,-2.2453412612434223],[0.7147790592123373,-2.2197672407164033]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.21193015036046187,0.5059366939032328,0.71338606911949],"aabb_xy":[[-0.24693014863058177,0.49886256620824454],[-0.17693015209034196,0.5130108215982209]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.09647516732810668,1.4189498454848883,0.71338606911949],"aabb_xy":[[0.04699474611414789,1.3549498475720367],[0.14595558854206547,1.4829498433977404]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.20708442207891503,-2.087623817579335,0.71338606911949],"aabb_xy":[[-0.21116257998596477,-2.091704797827598],[-0.2030062641718653,-2.083542837331071]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.4639342517141096,-1.5694757223807987,0.71338606911949],"aabb_xy":[[0.4559079810834837,-1.5782272173581513],[0.4719605223447357,-1.560724227403446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853679139800937,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4033.png","name":"4033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4033.png","name":"4033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6509.png","name":"6509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3414.png","name":"3414"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8082.png","name":"8082"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/800.png","name":"800"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":826.2280584678992,"rotation_z_degrees":102.93505592429077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01735474385065972,-0.013836645749866618,0.0019050883466275627]},{"name":"camera_2","offset_m":[-0.005068492871687541,-0.0033586185583445623,-0.011743705524540472]},{"name":"camera_3","offset_m":[0.0041183652318998246,-0.003971326620334514,0.007892839959643457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001733500523444227,0.0019585278564632543,0.001593885975627921],"end_effector_yaw_offset_degrees":0.3994874277890734},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018894315992874448,-0.00020977767765718858,0.00010915754704657202],"end_effector_yaw_offset_degrees":0.9391924484014447},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014768650187245757,-0.00014093734585691868,0.0003496223921179717],"end_effector_yaw_offset_degrees":0.22506716904566493}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00224151389851733,-0.002678779300171639],"position_m":[0.35105848610148266,0.21472122069982838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019096427303593377,-0.003899860173766353],"position_m":[0.2691903572696407,-0.34219986017376636,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001170941360970056,0.0024706656913640254],"position_m":[0.30052905863902996,0.37977066569136403,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002210479327395932,0.0017730852618555483],"position_m":[0.3596104793273959,0.06647308526185554,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6ee1cf5727538896d35b451018a1eb918b099da7afb970553d9df44627a461e","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4033/tex_ceiling_textures_800/tex_floor_textures_8082/tex_table_textures_6509/tex_wall_textures_3414","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2920216328407291496,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2920216328407291496,"visual_seed":2920216328407291496,"scene_id":"lab_003","finished_at":"2026-09-04T08:35:40"}
+{"episode_id":"ep_000090","started_at":"2026-09-04T08:35:43","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.2485675896442826,-1.2198583564466554,0.71338606911949],"aabb_xy":[[0.1935675914425377,-1.260380323073093],[0.30356758784602733,-1.1793363898202178]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.14397413771712642,0.6709969658369186,0.71338606911949],"aabb_xy":[[0.1215093677457213,0.6484969649580581],[0.16643890768853153,0.6934969667157791]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.6656917932799464,1.1263975291210508,0.71338606911949],"aabb_xy":[[-0.674493848588919,1.1185862029661215],[-0.6568897379709736,1.1342088552759797]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.5851073744186504,0.39668293723391557,0.71338606911949],"aabb_xy":[[-0.5960131505062131,0.3166829408350864],[-0.5742015983310876,0.4766829336327447]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.250795602714143,1.154606434982313,0.71338606911949],"aabb_xy":[[-0.2857956018440986,1.148861213906649],[-0.21579560358418726,1.1603516560579772]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.5045747540912584,1.5111456354761077,0.71338606911949],"aabb_xy":[[-0.5645747545991112,1.4542989017901864],[-0.4445747535834054,1.567992369162029]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.477869126432243,-1.1013207727787797,0.71338606911949],"aabb_xy":[[0.43662031540232826,-1.1563207722909967],[0.5191179374621577,-1.0463207732665618]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[0.2683627373720123,-0.8053027249973981,0.71338606911949],"aabb_xy":[[0.2400330274234721,-0.8097634671911154],[0.29669244732055255,-0.8008419828036812]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.23925793646027216,-1.0651122353283216,0.71338606911949],"aabb_xy":[[0.20175793596291391,-1.0690809188764396],[0.2767579369576304,-1.061143551780203]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.4885828596606729,-0.43511576932033647,0.71338606911949],"aabb_xy":[[-0.4980003342305355,-0.4445319464580555],[-0.47916538509081,-0.42569959218261744]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.18014732479176598,0.9615453484007674,0.71338606911949],"aabb_xy":[[-0.19201940780326712,0.8765453487071171],[-0.1682752417802649,1.0465453480944178]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.3720668775078797,-1.7691708635833003,0.71338606911949],"aabb_xy":[[0.345778053187439,-1.7954422972379516],[0.3983557018283203,-1.742899429928649]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.21260258726711923,-0.7003665432774182,0.71338606911949],"aabb_xy":[[-0.24719367012116444,-0.7653665435624492],[-0.178011504413074,-0.635366542992387]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.448905237767523,-1.2775662534051422,0.71338606911949],"aabb_xy":[[-0.48390523911900474,-1.297925989361963],[-0.41390523641604127,-1.2572065174483213]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.6538416157616168,-1.8163187635062052,0.71338606911949],"aabb_xy":[[-0.676355307585074,-1.8863187641072128],[-0.6313279239381596,-1.7463187629051977]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.27818255601604724,0.7162082343365408,0.71338606911949],"aabb_xy":[[-0.2957292509321662,0.6787082327722894],[-0.2606358610999283,0.753708235900792]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.4772030552331976,-0.920756227322755,0.71338606911949],"aabb_xy":[[0.392203056541123,-0.9527420907176337],[0.5622030539252723,-0.888770363927876]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.6029761395543883,-0.8874174232055689,0.71338606911949],"aabb_xy":[[-0.6106004076445666,-0.8950506467421129],[-0.5953518714642101,-0.8797841996690254]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.11780281687909577,1.6266026590003615,0.71338606911949],"aabb_xy":[[0.027802813202177597,1.5651702524232565],[0.2078028205560139,1.6880350655774652]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.5280239673086284,1.5186328969838825,0.71338606911949],"aabb_xy":[[0.47802396635809563,1.4870837499803609],[0.5780239682591612,1.5501820439874037]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[0.5236597981950071,-2.462462977782222,0.71338606911949],"aabb_xy":[[0.5017700506060662,-2.5524629750714705],[0.5455495457839478,-2.372462980492972]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.06667242379492677,-2.1754844101872464,0.71338606911949],"aabb_xy":[[0.05582081754605116,-2.1863437009148976],[0.07752403004380236,-2.164625119459595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827639735022302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5299.png","name":"5299"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5299.png","name":"5299"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7758.png","name":"7758"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/166.png","name":"166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9729.png","name":"9729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5224.png","name":"5224"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":824.3131094219289,"rotation_z_degrees":86.79915363301085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015478770362775899,0.011783707678256764,0.0016664556253222704]},{"name":"camera_2","offset_m":[0.011038829249159693,-0.002969314658952213,-0.01743472794889695]},{"name":"camera_3","offset_m":[-0.014989992582069834,0.0020890339356138023,0.003035981393470562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009074869611189764,-0.0015400554051212146,-0.0008386660711287926],"end_effector_yaw_offset_degrees":0.5886618438339868},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00048521425068789046,0.0006845662950026483,-0.000735232215884324],"end_effector_yaw_offset_degrees":0.07911176245825313},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006260722618718296,0.0008350389108218149,0.0009485833503115669],"end_effector_yaw_offset_degrees":-0.40566680981194136}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003152707137580667,-0.0014772318283180143],"position_m":[0.35014729286241936,0.215922768171682,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00429277894992215,0.0012927121350609387],"position_m":[0.26680722105007787,-0.33700728786493905,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003185871181168154,0.0007982896641146797],"position_m":[0.2985141288188319,0.3780982896641147,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00460589578725864,-0.0028957645584722015],"position_m":[0.3620058957872586,0.06180423544152779,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"160b8b8f9ae4fa8d8ef7770016b93e10bfcd8830ddeadb873b1944089f34e016","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5299/tex_ceiling_textures_5224/tex_floor_textures_9729/tex_table_textures_7758/tex_wall_textures_166","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6116230708896067762,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6116230708896067762,"visual_seed":6116230708896067762,"scene_id":"lab_003","finished_at":"2026-09-04T08:38:59"}
+{"episode_id":"ep_000091","started_at":"2026-09-04T08:39:03","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.25364810770487756,-1.148217279489672,0.71338606911949],"aabb_xy":[[0.18864810670437704,-1.1990036446443466],[0.3186481087053781,-1.0974309143349967]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.48186286251675725,1.5007228561376844,0.71338606911949],"aabb_xy":[[-0.5054479859806522,1.4357228538922526],[-0.45827773905286245,1.5657228583831162]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.6722713467631425,0.8163075109545823,0.71338606911949],"aabb_xy":[[0.6472713475975095,0.8093552652492259],[0.6972713459287757,0.823259756659939]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.25293688713825613,-1.0287312646920665,0.71338606911949],"aabb_xy":[[0.23043688732435375,-1.0332058810625473],[0.2754368869521585,-1.0242566483215858]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.4409982469732686,-2.352834573313691,0.71338606911949],"aabb_xy":[[-0.4515657266313677,-2.3633796034266994],[-0.43043076731516966,-2.3422895432006823]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.26137361171905055,1.2519702528018724,0.71338606911949],"aabb_xy":[[-0.2684150626697982,1.244943501064078],[-0.254332160768303,1.2589970045396668]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.089396198354465,-0.9065509796294031,0.71338606911949],"aabb_xy":[[0.08393825271744493,-0.9865509829370622],[0.09485414399148506,-0.826550976321744]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.2817849447377242,1.163554588940809,0.71338606911949],"aabb_xy":[[0.21778494446374597,1.1134884887435212],[0.3457849450117024,1.2136206891380972]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.4173762313251752,1.579119843386675,0.71338606911949],"aabb_xy":[[0.39974339573164763,1.5614968973710521],[0.4350090669187028,1.596742789402298]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.09085560832448414,0.16940650671618274,0.71338606911949],"aabb_xy":[[-0.13304002248531488,0.10540650643897154],[-0.0486711941636534,0.23340650699339394]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.6104112240905759,-1.9638655807664396,0.71338606911949],"aabb_xy":[[-0.6329112241007242,-1.9779618004060426],[-0.5879112240804276,-1.949769361126836]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.06786450168150049,1.3746995881460347,0.71338606911949],"aabb_xy":[[0.037466390582356894,1.344292686144365],[0.09826261278064406,1.405106490147704]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.4789297257775389,-2.022695314213202,0.71338606911949],"aabb_xy":[[0.4139297246715956,-2.04766068728133],[0.5439297268834822,-1.9977299411450735]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.4811071947761534,-0.407151325398325,0.71338606911949],"aabb_xy":[[0.44360719411157457,-0.4228383833985471],[0.5186071954407319,-0.39146426739810275]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.08512932599145828,0.301182694198733,0.71338606911949],"aabb_xy":[[-0.10762932623497368,0.28897805953896105],[-0.06262932574794289,0.31338732885850495]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[-0.6552524075278555,-0.5876832687731055,0.71338606911949],"aabb_xy":[[-0.6753108191410957,-0.607748355682263],[-0.6351939959146151,-0.567618181863948]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.2946086441389758,-1.8933624074725208,0.71338606911949],"aabb_xy":[[0.2571086440333828,-1.900184569325502],[0.3321086442445687,-1.8865402456195397]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.5319714254275547,-2.1015921186103155,0.71338606911949],"aabb_xy":[[-0.5959714245973247,-2.148358805729278],[-0.4679714262577848,-2.054825431491353]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.133585702564062,-2.428014869512329,0.71338606911949],"aabb_xy":[[0.06958570613674009,-2.475184493334426],[0.1975856989913839,-2.380845245690233]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.6371277338232697,-0.22805611117405178,0.71338606911949],"aabb_xy":[[-0.6424602484778827,-0.2333804394192874],[-0.6317952191686567,-0.2227317829288162]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.5004959943709997,0.7122707626065066,0.71338606911949],"aabb_xy":[[0.4404959935101868,0.6608443326000201],[0.5604959952318124,0.7636971926129928]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.3500372940326093,0.7858739023824111,0.71338606911949],"aabb_xy":[[-0.3850372939286282,0.7774996668704711],[-0.31503729413659043,0.794248137894351]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.6406906564755228,0.6856561645201129,0.71338606911949],"aabb_xy":[[-0.6511022151560064,0.6803104311842143],[-0.630279097795039,0.6910018978560113]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.5465508350542014,0.10968665125941568,0.71338606911949],"aabb_xy":[[-0.6115508350885042,0.06298597457908839],[-0.4815508350198987,0.15638732793974297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883226937627994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7880.png","name":"7880"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7880.png","name":"7880"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5828.png","name":"5828"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6011.png","name":"6011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/70.png","name":"70"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":521.801676487362,"rotation_z_degrees":216.09055388701952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017477358114518445,0.012584226936682447,-0.011307593137732965]},{"name":"camera_2","offset_m":[-0.004154004175439235,-0.013154937103719786,0.0068333104319911395]},{"name":"camera_3","offset_m":[0.008048279878590692,-0.008100157329978637,0.001944300993712518]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007306849133175489,-0.0013417165412923891,0.0009443221287232699],"end_effector_yaw_offset_degrees":0.578299035144701},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019513751592656061,-0.0017647594866786731,0.0009564954890898918],"end_effector_yaw_offset_degrees":-0.609515125061201},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003146877059472912,-0.0014439280858880665,0.0002897955765372071],"end_effector_yaw_offset_degrees":0.22341693777408755}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018661139103047053,0.003198321502611929],"position_m":[0.3514338860896953,0.22059832150261194,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003109300019247683,-0.0038210820635044794],"position_m":[0.2742093000192477,-0.34212108206350444,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004564676693161458,-0.0013010519925006092],"position_m":[0.3062646766931615,0.3759989480074994,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036727031864443567,0.0010279965530473499],"position_m":[0.36107270318644435,0.06572799655304734,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b32f003296f14372f247d34b6e32a9ddef90e8afc66b3aefeac7cafb5a48e3e","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0091.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7880/tex_ceiling_textures_70/tex_floor_textures_7144/tex_table_textures_5828/tex_wall_textures_6011","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":195679105745086472,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":195679105745086472,"visual_seed":195679105745086472,"scene_id":"lab_003","finished_at":"2026-09-04T08:42:09"}
+{"episode_id":"ep_000092","started_at":"2026-09-04T08:42:14","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.2041424005271517,-1.700197461186547,0.71338606911949],"aabb_xy":[[0.19498252158327511,-1.706728679230084],[0.2133022794710283,-1.6936662431430098]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.4750861416361949,-0.11698344795622218,0.71338606911949],"aabb_xy":[[0.4663049144889587,-0.12576319524475232],[0.4838673687834312,-0.10820370066769204]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.5014480164132491,-1.4852475488414674,0.71338606911949],"aabb_xy":[[-0.5239480169252897,-1.5077394072068657],[-0.4789480159012085,-1.462755690476069]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.4810751712203089,0.8982013905439463,0.71338606911949],"aabb_xy":[[-0.4891185311462641,0.8132013894485799],[-0.47303181129435373,0.9832013916393127]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.009816061030909373,1.7277445872732549,0.71338606911949],"aabb_xy":[[-0.010242350582330915,1.7076795003640974],[0.029874472644149663,1.7478096741824123]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.3637833587393997,0.8048538481914096,0.71338606911949],"aabb_xy":[[0.3137840835709636,0.7548538469154624],[0.41378263390783593,0.8548538494673568]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[0.5402558301172071,0.15954912061782078,0.71338606911949],"aabb_xy":[[0.4901583661361335,0.09554912010800895],[0.5903532940982807,0.22354912112763256]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.3778478172332651,-2.43045636195192,0.71338606911949],"aabb_xy":[[0.297847820270226,-2.5075320035956934],[0.4578478141963043,-2.3533807203081465]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[-0.21218747604915705,1.5949428928457325,0.71338606911949],"aabb_xy":[[-0.24868329667643574,1.5584589504189748],[-0.17569165542187826,1.6314268352724899]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.6624847259330154,1.602366381179411,0.71338606911949],"aabb_xy":[[-0.6949464268149427,1.572233549064508],[-0.6300230250510878,1.6324992132943132]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.6872481382310596,-0.5397861677585918,0.71338606911949],"aabb_xy":[[0.6522481399203641,-0.5475011826821374],[0.722248136541755,-0.5320711528350461]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.43741200061310465,-0.5178072300282186,0.71338606911949],"aabb_xy":[[-0.47332550503809434,-0.5537207382449733],[-0.40149849618811495,-0.481893721811464]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.6332782711851508,-0.6781211079446627,0.71338606911949],"aabb_xy":[[0.5716875119611581,-0.7421211060537097],[0.6948690304091437,-0.614121109835616]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.39709024369261703,-0.12688805008520454,0.71338606911949],"aabb_xy":[[-0.47709024512274417,-0.206405205097814],[-0.3170902422624898,-0.04737089507259504]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.45178389641248184,-0.8442575095031728,0.71338606911949],"aabb_xy":[[0.406612578564313,-0.9082575066477113],[0.4969552142606509,-0.7802575123586345]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.060368156307984644,-1.6158870876419484,0.71338606911949],"aabb_xy":[[0.029883906180954496,-1.6658870874234446],[0.0908524064350148,-1.5658870878604527]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[0.22600613759953647,-1.1104775145891883,0.71338606911949],"aabb_xy":[[0.2109038361385183,-1.1255790362202498],[0.24110843906055449,-1.0953759929581264]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.03561804661216217,1.3368065907932145,0.71338606911949],"aabb_xy":[[-0.05272012457053033,1.319699785261945],[-0.01851596865379402,1.3539133963244845]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.6129751798060905,-0.9345590407290145,0.71338606911949],"aabb_xy":[[-0.6624556010200492,-0.9985590386418663],[-0.5634947585921316,-0.8705590428161627]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.27055709894706037,0.1347047935860064,0.71338606911949],"aabb_xy":[[-0.32043979582475657,0.08470479433973165],[-0.22067440206936417,0.18470479283228114]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.5891274137443006,-2.185297359373934,0.71338606911949],"aabb_xy":[[0.577359226949643,-2.270297359279156],[0.6008956005389581,-2.100297359468713]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.4218663853160258,-0.40062159376926054,0.71338606911949],"aabb_xy":[[0.39189882840620016,-0.4306215940671463],[0.4518339422258515,-0.3706215934713748]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.2315961403623369,1.1906869496814103,0.71338606911949],"aabb_xy":[[0.1675961383126049,1.1505924665921023],[0.2955961424120689,1.2307814327707183]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.0704832697757456,-0.9677639937324589,0.71338606911949],"aabb_xy":[[-0.08392979640978893,-0.9812338453855501],[-0.05703674314170226,-0.9542941420793677]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[-0.17795354880140202,0.7889444488601578,0.71338606911949],"aabb_xy":[[-0.23295354700314685,0.7484224822337201],[-0.1229535505996572,0.8294664154865953]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.21874708588232294,-1.5744184270096018,0.71338606911949],"aabb_xy":[[-0.26151379276174314,-1.6384184304314044],[-0.17598037900290273,-1.5104184235877995]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.18848785744229823,-0.5523321399328278,0.71338606911949],"aabb_xy":[[-0.19590031298368668,-0.5581833503544558],[-0.18107540190090973,-0.5464809295111999]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863816511683766,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2427.png","name":"2427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2427.png","name":"2427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9064.png","name":"9064"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/101.png","name":"101"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/577.png","name":"577"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/790.png","name":"790"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":783.1742044840971,"rotation_z_degrees":11.518094058820928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018739735102035204,0.003809367122006052,-0.008709270985413143]},{"name":"camera_2","offset_m":[-0.0129564060439857,0.01709543004264664,-0.01575293450446562]},{"name":"camera_3","offset_m":[0.002710729263212995,-0.009785976252775467,0.01932738513047994]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008437206840688578,-0.0018169557202300079,0.001197610879706464],"end_effector_yaw_offset_degrees":0.9045419752608159},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000162946551583392,-0.000987624787232937,0.0011447687746378968],"end_effector_yaw_offset_degrees":0.08747269348250186},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019097771335060687,-0.0003560676036263963,0.0012882787942524601],"end_effector_yaw_offset_degrees":-0.18241095877786684}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028632488324967943,0.00447451658817477],"position_m":[0.3504367511675032,0.22187451658817478,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004967195587461385,0.0034033119338270365],"position_m":[0.2760671955874614,-0.33489668806617295,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004390841237995137,0.0005532074566508439],"position_m":[0.29730915876200487,0.37785320745665085,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004198666945510034,-0.0005058014456140354],"position_m":[0.36159866694551,0.06419419855438596,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0b8db75dc2cacc3244c0c1080c37f511cedb4c4c873ff4f2a6fe4ab43b8e95f2","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2427/tex_ceiling_textures_790/tex_floor_textures_577/tex_table_textures_9064/tex_wall_textures_101","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":273319661679422569,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":273319661679422569,"visual_seed":273319661679422569,"scene_id":"lab_003","finished_at":"2026-09-04T08:45:15"}
+{"episode_id":"ep_000093","started_at":"2026-09-04T08:45:18","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.002769357110638637,-2.1883795883996893,0.71338606911949],"aabb_xy":[[-0.052769358129773916,-2.224845804137517],[0.04723064390849664,-2.1519133726618613]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.17435182180393272,-1.666212199932238,0.71338606911949],"aabb_xy":[[-0.2112023697409203,-1.7037122007552719],[-0.13750127386694508,-1.6287121991092044]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.6452267571122943,-0.6329414239911331,0.71338606911949],"aabb_xy":[[0.614079838268711,-0.7029414226779401],[0.6763736759558773,-0.5629414253043258]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.2858207803212471,1.0246155152358511,0.71338606911949],"aabb_xy":[[-0.2951677879035423,1.0103118930182071],[-0.27647377273895185,1.0389191374534952]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.03953867701189573,-0.18079912318089209,0.71338606911949],"aabb_xy":[[-0.0477532221275797,-0.18947571347853334],[-0.03132413189621174,-0.17212253288325077]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.4654161050353044,-2.2389913686889966,0.71338606911949],"aabb_xy":[[-0.5454099286138627,-2.318991371281838],[-0.38542228145674623,-2.158991366096155]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.13782001745809624,-1.2952484093301238,0.71338606911949],"aabb_xy":[[0.12348559233193279,-1.3073086248846624],[0.1521544425842597,-1.2831881937755847]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.26117306572810606,1.774548648775491,0.71338606911949],"aabb_xy":[[0.18117306707122005,1.7600437898512282],[0.34117306438499206,1.789053507699754]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.35166848617849156,-1.0311760248142379,0.71338606911949],"aabb_xy":[[0.3264476493186518,-1.0563997756671242],[0.3768893230383311,-1.0059522739613507]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.3068313195232397,-2.4836673619217184,0.71338606911949],"aabb_xy":[[0.25683132008304405,-2.5336352864060343],[0.3568313189634353,-2.4336994374374017]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.08021752540499771,-0.953026393810489,0.71338606911949],"aabb_xy":[[-0.14421752183231962,-1.0001960176325855],[-0.016217528977675824,-0.9058567699883926]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.35753406728575166,-1.6272282068877653,0.71338606911949],"aabb_xy":[[0.30351847100385154,-1.6912282097800224],[0.41154966356765155,-1.563228203995508]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.6657490527643175,-1.5049053510067674,0.71338606911949],"aabb_xy":[[0.6432490525208021,-1.5171099856665393],[0.6882490530078329,-1.4927007163469954]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.42741968867861085,0.7265845621661149,0.71338606911949],"aabb_xy":[[-0.4774026388660901,0.6765845625235544],[-0.3774367384911314,0.7765845618086752]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.3171701873465682,0.523902483489175,0.71338606911949],"aabb_xy":[[0.27967018684920997,0.5199337999410566],[0.35467018784392645,0.5278711670372934]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.6433922825268876,0.49608575262619414,0.71338606911949],"aabb_xy":[[0.6325518043003727,0.4788994713355453],[0.6542327607534025,0.5132720339168428]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.4835245805250987,-1.4032038093547003,0.71338606911949],"aabb_xy":[[0.41952458026462786,-1.4482126087076281],[0.5475245807855694,-1.3581950100017721]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[0.3340711816397328,-0.8169262634954548,0.71338606911949],"aabb_xy":[[0.30778235731929204,-0.843197697150106],[0.36036000596017337,-0.7906548298408035]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.38931913960292436,-1.9268637348026911,0.71338606911949],"aabb_xy":[[-0.4493191404637371,-1.9782901648091773],[-0.3293191387421115,-1.8754373047962045]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.5225264044075408,-2.2152562604720587,0.71338606911949],"aabb_xy":[[0.5049797094914219,-2.2527562620363097],[0.5400730993236598,-2.1777562589078077]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.4273283491713804,-0.7843570514082485,0.71338606911949],"aabb_xy":[[0.4192146944980033,-0.7924628678622776],[0.4354420038447575,-0.7762512349542194]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.262097761158685,-0.8720049647359589,0.71338606911949],"aabb_xy":[[-0.3260977630710273,-0.9279161139939694],[-0.1980977592463426,-0.8160938154779486]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.3122578036688124,-2.3570314314951397,0.71338606911949],"aabb_xy":[[0.2971555022077942,-2.372132953126201],[0.3273601051298304,-2.3419299098640773]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.6672592876872876,1.0561955032587345,0.71338606911949],"aabb_xy":[[0.6172600125188514,1.0061955019827873],[0.7172585628557238,1.1061955045346816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824220958205247,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7997.png","name":"7997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7997.png","name":"7997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3184.png","name":"3184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5129.png","name":"5129"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7137.png","name":"7137"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":565.8528769352345,"rotation_z_degrees":55.45053709954775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004698683863816826,0.004289149134019232,-0.006853838721768334]},{"name":"camera_2","offset_m":[0.0012446804473747013,0.019229217212079184,0.0006014027698268941]},{"name":"camera_3","offset_m":[-0.010586305216319408,-0.018901565776402812,-0.016044121587546742]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018261133277071378,-0.0001768001404943286,0.0009151345884095626],"end_effector_yaw_offset_degrees":0.46635678568230854},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014237034871486848,-0.0011215170589661473,0.0005087273925981923],"end_effector_yaw_offset_degrees":-0.7227087311296849},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002837245013185821,-0.0001743567186800101,-0.0011368893950595743],"end_effector_yaw_offset_degrees":-0.06390165997381603}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023052335553938675,0.0017302468014254013],"position_m":[0.35099476644460614,0.2191302468014254,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008619006120033287,0.0028110684919636477],"position_m":[0.2702380993879967,-0.3354889315080363,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[2.510970025963559e-05,-0.004700612541548469],"position_m":[0.3017251097002597,0.37259938745845156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00242257374988733,-0.003707583082514281],"position_m":[0.35982257374988735,0.06099241691748571,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17724d2dbf384a1281264cb090c2d49511508ab3d4de42ae9f9366ecb41f003e","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7997/tex_ceiling_textures_7137/tex_floor_textures_4210/tex_table_textures_3184/tex_wall_textures_5129","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5595081597786549182,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5595081597786549182,"visual_seed":5595081597786549182,"scene_id":"lab_003","finished_at":"2026-09-04T08:48:17"}
+{"episode_id":"ep_000094","started_at":"2026-09-04T08:48:20","dimensions":{"distractor":{"count":34,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.3075727634811851,1.1400768787659459,0.71338606911949],"aabb_xy":[[0.2175727637580109,1.1170035262307658],[0.39757276320435925,1.1631502313011255]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.260123954962693,-1.1647098854861466,0.71338606911949],"aabb_xy":[[0.24765659685295738,-1.1771752101194701],[0.2725913130724287,-1.1522445608528231]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[0.38929885697203415,1.600617995198656,0.71338606911949],"aabb_xy":[[0.36901455424863533,1.5803353700559473],[0.40958315969543285,1.620900620341365]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.1790631600314142,-2.0358634293323035,0.71338606911949],"aabb_xy":[[0.14156315985954224,-2.06856416471521],[0.21656316020328611,-2.003162693949396]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.050075897299447836,1.7565154757782833,0.71338606911949],"aabb_xy":[[-0.06757589657753471,1.7391773757119373],[-0.032575898021360954,1.7738535758446292]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.5255129106777219,-1.282082290146482,0.71338606911949],"aabb_xy":[[0.4605129127960741,-1.3332059538530228],[0.5905129085593697,-1.230958626439941]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.6319030429767718,0.8881309017913903,0.71338606911949],"aabb_xy":[[-0.6694030444924035,0.8769041287752453],[-0.5944030414611401,0.8993576748075354]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.04982606684718016,-1.833078542293908,0.71338606911949],"aabb_xy":[[0.015363719449038365,-1.8675724246917305],[0.08428841424532196,-1.798584659896085]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.21277889214915285,1.0308135134858127,0.71338606911949],"aabb_xy":[[-0.26777889035089764,0.9902915468593753],[-0.15777889394740802,1.0713354801122503]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.1946993408946356,-1.3908814897922432,0.71338606911949],"aabb_xy":[[0.10469934230016567,-1.4071320761056643],[0.28469933948910553,-1.3746309034788222]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.5233411173173941,0.6237653273695738,0.71338606911949],"aabb_xy":[[0.46834790598025744,0.5687653270307802],[0.5783343286545309,0.6787653277083674]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.34420197262355967,1.4632560353696484,0.71338606911949],"aabb_xy":[[0.30920197264706384,1.4537914193220316],[0.3792019726000555,1.4727206514172648]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.09243918353327929,-2.3160826815073503,0.71338606911949],"aabb_xy":[[0.07423335987203161,-2.327108082089342],[0.11064500719452697,-2.3050572809253587]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.15937024390519006,1.7019265481689145,0.71338606911949],"aabb_xy":[[0.11437024243896121,1.656926691307434],[0.20437024537141893,1.7469264050303954]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.42155727017669253,0.9445417533258675,0.71338606911949],"aabb_xy":[[0.41427495380002877,0.8545417497163583],[0.4288395865533561,1.034541756935376]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.4575909601189264,-2.366909958375511,0.71338606911949],"aabb_xy":[[-0.4875585170287521,-2.3969099586733966],[-0.42762340320910075,-2.3369099580776256]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.3954788451559593,-0.21405627581687936,0.71338606911949],"aabb_xy":[[-0.4604788433118784,-0.24035252036679153],[-0.33047884700004027,-0.18776003126696714]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.1751229325762681,0.7338325706365856,0.71338606911949],"aabb_xy":[[-0.19022523403728614,0.7187310490055235],[-0.16002063111524994,0.7489340922676472]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.406422669348089,-2.3481354018499108,0.71338606911949],"aabb_xy":[[0.3414226693137863,-2.394836078530238],[0.47142266938239175,-2.3014347251695835]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[0.1722187248175282,-0.6945669589437404,0.71338606911949],"aabb_xy":[[0.11721872564093869,-0.7495566337186981],[0.22721872399411766,-0.6395772841687828]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.10981636076773627,-0.25040005063185333,0.71338606911949],"aabb_xy":[[-0.15480894748618665,-0.2954000499063021],[-0.06482377404928583,-0.20540005135740458]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.1314423596044747,-1.2925506873115509,0.71338606911949],"aabb_xy":[[0.12344837102677131,-1.3005507674066412],[0.1394363481821781,-1.2845506072164605]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[-0.4207883315763092,1.0112603881975444,0.71338606911949],"aabb_xy":[[-0.49078833496787116,0.9759446144941134],[-0.3507883281847472,1.046576161900975]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.0066932194620059615,-1.1973315673040266,0.71338606911949],"aabb_xy":[[-0.09638029577012142,-1.287331567558477],[0.08299385684610949,-1.107331567049576]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.43202012984512844,-1.2634815803960613,0.71338606911949],"aabb_xy":[[-0.5120139534236867,-1.3434815829889029],[-0.3520263062665703,-1.1834815778032197]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.6485296888839374,0.2700742404088725,0.71338606911949],"aabb_xy":[[0.6057629820045172,0.20607423698707],[0.6912963957633576,0.3340742438306749]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[-0.31452244204287794,-0.6635063855923193,0.71338606911949],"aabb_xy":[[-0.36400286325683673,-0.7275063835051712],[-0.26504202082891914,-0.5995063876794675]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[-0.20081678794387242,0.4311783891850842,0.71338606911949],"aabb_xy":[[-0.23831678873586784,0.424810548226894],[-0.16331678715187695,0.4375462301432742]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[-0.4897178607166002,1.5679033667768034,0.71338606911949],"aabb_xy":[[-0.5797178601349711,1.5345278699326135],[-0.3997178612982292,1.601278863620993]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[0.4838261875438552,-1.4711273397205875,0.71338606911949],"aabb_xy":[[0.4198261904317495,-1.5201597095149983],[0.5478261846559609,-1.4220949699261771]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[0.181981936129598,0.7826128736326479,0.71338606911949],"aabb_xy":[[0.13198882402040613,0.7326128729584522],[0.23197504823878992,0.8326128743068436]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_31","position":[-0.2997418355293734,-1.739384344875958,0.71338606911949],"aabb_xy":[[-0.3164189715224689,-1.7560842688498883],[-0.2830646995362779,-1.7226844209020278]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[0.3555269109487895,0.6832338177337798,0.71338606911949],"aabb_xy":[[0.3198977550488297,0.6476011509769269],[0.3911560668487492,0.7188664844906328]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_33","position":[-0.4230770606169818,-0.8359832970832282,0.71338606911949],"aabb_xy":[[-0.473077061636117,-0.8724495128210563],[-0.3730770595978464,-0.7995170813454004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860005243290066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4144.png","name":"4144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4144.png","name":"4144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4602.png","name":"4602"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6675.png","name":"6675"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8702.png","name":"8702"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3417.png","name":"3417"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":540.0124512825001,"rotation_z_degrees":196.16378067408542,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004439821044413272,-0.0004695792505474486,0.008058802098378181]},{"name":"camera_2","offset_m":[0.0019131662790164497,-0.0017022740314875107,-0.0007998160972001178]},{"name":"camera_3","offset_m":[-0.015847134888028594,-0.009953793605889714,0.0198157021371731]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00045371045297493747,-7.753736996352241e-05,0.0010255530968183114],"end_effector_yaw_offset_degrees":-0.8580209491995368},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012441162878931186,0.001549351248421486,-0.0018859133438749605],"end_effector_yaw_offset_degrees":-0.5615707022701231},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010374273771970866,2.01590246723532e-05,-1.529971021493144e-05],"end_effector_yaw_offset_degrees":0.8113157949398997}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00021999396801733375,-0.0014702979377320003],"position_m":[0.3530800060319827,0.215929702062268,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008948182038955718,-0.0030148632439731516],"position_m":[0.2719948182038956,-0.34131486324397314,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018705813726749578,0.002393046527007653],"position_m":[0.29982941862732504,0.3796930465270077,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032378790904713213,0.0029791722215004564],"position_m":[0.3606378790904713,0.06767917222150045,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2607199a5bfa73c4ddbc25b73772944ef9110c3d3abdf988d4968a435f070dd9","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4144/tex_ceiling_textures_3417/tex_floor_textures_8702/tex_table_textures_4602/tex_wall_textures_6675","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5756343458244987686,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5756343458244987686,"visual_seed":5756343458244987686,"scene_id":"lab_003","finished_at":"2026-09-04T08:51:28"}
+{"episode_id":"ep_000095","started_at":"2026-09-04T08:51:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.13268322758459083,-0.3365807733855606,0.71338606911949],"aabb_xy":[[-0.16612340278061039,-0.3700243992164906],[-0.09924305238857119,-0.30313714755463045]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[-0.16787172613790435,0.6081333085646698,0.71338606911949],"aabb_xy":[[-0.17396635402602267,0.5995639140130012],[-0.16177709824978603,0.6167027031163387]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.295501468611023,1.0104589792341776,0.71338606911949],"aabb_xy":[[0.27882433261792744,0.9937590552602473],[0.31217860460411845,1.0271589032081079]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.6518798392229219,0.4123320155488317,0.71338606911949],"aabb_xy":[[0.6401116524282645,0.3273320156436102],[0.6636480260175796,0.49733201545405337]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.08068131016193658,0.8984124315781608,0.71338606911949],"aabb_xy":[[-0.14468130874850904,0.8514054681786519],[-0.01668131157536412,0.9454193949776694]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.31495755866765046,-0.37215211369585255,0.71338606911949],"aabb_xy":[[-0.3599501453861008,-0.4171521129703013],[-0.2699649719492,-0.3271521144214038]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.4515594721392402,0.3442643656376161,0.71338606911949],"aabb_xy":[[-0.4765594713048733,0.3373121199322595],[-0.4265594729736071,0.35121661134297266]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.2684491193150515,-0.10253354246033286,0.71338606911949],"aabb_xy":[[-0.2798108539683376,-0.11390200886662093],[-0.2570873846617653,-0.09116507605404477]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.13281017920521043,-0.10266155420322232,0.71338606911949],"aabb_xy":[[-0.16781017910122928,-0.11103578971516224],[-0.09781017930919154,-0.09428731869128236]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.38856274166709226,-1.8098034774678573,0.71338606911949],"aabb_xy":[[0.3085627395043297,-1.8897586610940007],[0.4685627438298547,-1.7298482938417135]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.5947385967310277,0.3660801381893659,0.71338606911949],"aabb_xy":[[-0.6447385980919149,0.3161022336139503],[-0.5447385953701405,0.41605804276478153]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.09794838007433115,-0.9944080502609154,0.71338606911949],"aabb_xy":[[-0.1284326302013613,-1.0444080500424113],[-0.067464129947301,-0.9444080504794194]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.2708027758577839,0.5036803524127769,0.71338606911949],"aabb_xy":[[-0.27960483116675655,0.4958690262578476],[-0.26200072054881113,0.5114916785677057]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.31853186125581723,-1.5092013639042325,0.71338606911949],"aabb_xy":[[0.30142978329744907,-1.5263081694355025],[0.3356339392141854,-1.492094558372963]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[-0.4735651590439453,1.3061306380846904,0.71338606911949],"aabb_xy":[[-0.5435651606462248,1.2926978448830329],[-0.40356515744166577,1.319563431286348]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.0999709413426535,-1.5102219495120155,0.71338606911949],"aabb_xy":[[-0.1245171569654042,-1.5404708460610526],[-0.07542472571990276,-1.4799730529629784]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.12497205751756524,-0.5205645826762781,0.71338606911949],"aabb_xy":[[-0.15362138987798146,-0.5492101419533538],[-0.09632272515714901,-0.49191902339920224]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.506946469595615,-1.9107753341173872,0.71338606911949],"aabb_xy":[[-0.5519464710618438,-1.9557751909788683],[-0.4619464681293861,-1.865775477255907]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.527863570242828,-0.744358116835657,0.71338606911949],"aabb_xy":[[0.4922344143428682,-0.77999078359251],[0.5634927261427877,-0.708725450078804]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.4293038145381899,-2.2312771035201293,0.71338606911949],"aabb_xy":[[-0.5093038131255093,-2.31059270545829],[-0.3493038159508705,-2.1519615015819684]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.2981490310552833,-1.298618372062111,0.71338606911949],"aabb_xy":[[-0.34033344521611403,-1.3626183723393221],[-0.25596461689445255,-1.2346183717848997]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831568772534845,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4817.png","name":"4817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4817.png","name":"4817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5592.png","name":"5592"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5901.png","name":"5901"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8718.png","name":"8718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9215.png","name":"9215"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":731.3122525274807,"rotation_z_degrees":6.031739531898621,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001191554466419397,0.01120848211087207,0.0014854373950220975]},{"name":"camera_2","offset_m":[-0.007884060266258538,-0.007787326632813226,-0.005439554858227535]},{"name":"camera_3","offset_m":[-0.01931448564677279,0.011250968667897088,-0.009526054925905744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00157542179611307,-0.0016900410376847331,0.0007157292917044835],"end_effector_yaw_offset_degrees":0.626811634906862},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018734588748045243,-0.0016871409679246718,-0.0007987328475452897],"end_effector_yaw_offset_degrees":0.0832018253181479},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007303786413349314,0.00029203175016281283,-0.0015625374919700837],"end_effector_yaw_offset_degrees":-0.37243634026506856}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036328336855490683,-0.0016576841723312417],"position_m":[0.34966716631445094,0.21574231582766876,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034478864413011456,-0.004849939652710611],"position_m":[0.2676521135586989,-0.3431499396527106,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0040464152497883404,-0.0014172313633668441],"position_m":[0.2976535847502117,0.37588276863663317,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033763660812306745,0.004992771506937675],"position_m":[0.36077636608123065,0.06969277150693767,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2637cc64ab51bf87e8b100f2477a92a90d1a337813ab732b6c581f8c75de47b8","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4817/tex_ceiling_textures_9215/tex_floor_textures_8718/tex_table_textures_5592/tex_wall_textures_5901","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8563522136486247902,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8563522136486247902,"visual_seed":8563522136486247902,"scene_id":"lab_003","finished_at":"2026-09-04T08:54:35"}
+{"episode_id":"ep_000096","started_at":"2026-09-04T08:54:39","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.5801228087423813,-1.005812327154598,0.71338606911949],"aabb_xy":[[-0.6151228079351994,-1.0167793731522605],[-0.5451228095495628,-0.9948452811569352]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.45367415593360394,-0.542718777527714,0.71338606911949],"aabb_xy":[[-0.4596406948743397,-0.5486799221870781],[-0.4477076169928681,-0.53675763286835]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.43309522566317654,-1.4932397891491216,0.71338606911949],"aabb_xy":[[-0.4505951590971599,-1.510739789069356],[-0.41559529222919317,-1.4757397892288868]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.5428939656947911,-0.7790910374638389,0.71338606911949],"aabb_xy":[[0.530961231332963,-0.7914731902716984],[0.5548267000566192,-0.7667088846559796]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.114848321318758,-2.250254748068169,0.71338606911949],"aabb_xy":[[0.07734832013396518,-2.2546729707642292],[0.15234832250355076,-2.245836525372108]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.4393797194202078,1.2643909573995686,0.71338606911949],"aabb_xy":[[0.4218797191751584,1.2468911695600016],[0.45687971966525714,1.2818907452391353]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.5111334434098579,1.7199239997369875,0.71338606911949],"aabb_xy":[[-0.5761334460476514,1.6684444010375403],[-0.4461334407720644,1.7714035984364342]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.5279466020849324,-1.7512813829705418,0.71338606911949],"aabb_xy":[[0.4934842546867904,-1.7857752653683643],[0.562408949483074,-1.716787500572719]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.15810018285667438,-0.19096634076469998,0.71338606911949],"aabb_xy":[[-0.1636818544908031,-0.20346634058247548],[-0.1525185112225456,-0.17846634094692448]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.09391918860548609,1.7739326015391756,0.71338606911949],"aabb_xy":[[-0.1105963245985816,1.7572326775652456],[-0.07724205261239059,1.7906325255131061]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.5710610548228672,-0.5602888939649886,0.71338606911949],"aabb_xy":[[0.5535610545635307,-0.5743804361537612],[0.5885610550822039,-0.546197351776216]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.5036808472672119,-1.21013867455113,0.71338606911949],"aabb_xy":[[-0.5531612684811706,-1.2741386724639816],[-0.45420042605325306,-1.146138676638278]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.5211353649967252,-2.334555223602763,0.71338606911949],"aabb_xy":[[0.5050734375382075,-2.4195552254153543],[0.5371972924552428,-2.2495552217901706]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.051794633391148426,-0.7580312704504173,0.71338606911949],"aabb_xy":[[-0.028205363571890754,-0.8351069120941906],[0.1317946303541876,-0.6809556288066437]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.35256450006751566,-2.1084594151441967,0.71338606911949],"aabb_xy":[[-0.4065800963494156,-2.172459418036454],[-0.2985489037856156,-2.0444594122519395]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.6205145964036233,0.2690334500177243,0.71338606911949],"aabb_xy":[[-0.6655071831220737,0.22403345074327552],[-0.5755220096851729,0.31403344929217303]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.04137089640397418,1.6201378817419294,0.71338606911949],"aabb_xy":[[0.03486925989596957,1.6103700597156199],[0.04787253291197881,1.6299057037682394]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.4364149874999199,-1.4076505971810989,0.71338606911949],"aabb_xy":[[0.41141498833428686,-1.4146028428864554],[0.4614149866655531,-1.4006983514757423]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.4324155626401547,-1.9162229258903787,0.71338606911949],"aabb_xy":[[0.41540546535010403,-1.9323574143886526],[0.44942565993020533,-1.9000884373921048]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.5060109175926393,-0.07301125803467823,0.71338606911949],"aabb_xy":[[0.45601091801630467,-0.12299183698678419],[0.5560109171689741,-0.023030679082572295]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.23769324852168933,-2.301023280378777,0.71338606911949],"aabb_xy":[[-0.2876720570320052,-2.3510232803844957],[-0.18771444001137344,-2.251023280373058]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.3278496441162184,-1.558256550269384,0.71338606911949],"aabb_xy":[[0.3099805363617629,-1.572089458246595],[0.3457187518706739,-1.5444236422921729]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.21343221257225997,-1.2943643690216282,0.71338606911949],"aabb_xy":[[0.1534322119762438,-1.3491768415668517],[0.27343221316827615,-1.2395518964764047]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.6397134136989568,-1.738084531463669,0.71338606911949],"aabb_xy":[[-0.689706525808149,-1.788084532137865],[-0.5897203015897652,-1.6880845307894736]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[0.17539974751665433,-2.152674679590609,0.71338606911949],"aabb_xy":[[0.16835829656590673,-2.159701431328403],[0.18244119846740192,-2.145647927852814]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.38346876536830066,1.4263798905373801,0.71338606911949],"aabb_xy":[[0.3795082815985663,1.4187120259518597],[0.387429249138035,1.434047755122901]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[0.6248830383805981,-0.6653711369018589,0.71338606911949],"aabb_xy":[[0.6003368227578473,-0.6956200334508958],[0.6494292540033487,-0.6351222403528217]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.6388490108729565,1.5225979286552378,0.71338606911949],"aabb_xy":[[0.6023531902456777,1.4861139862284802],[0.6753448315002352,1.5590818710819954]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[0.39679226882743346,0.5534116909171889,0.71338606911949],"aabb_xy":[[0.34898610121366475,0.4884116882101299],[0.444598436441202,0.6184116936242479]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[0.2308436227076358,-1.899766111156108,0.71338606911949],"aabb_xy":[[0.22356130633097213,-1.9897661147656165],[0.23812593908429944,-1.8097661075465985]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[-0.5372744074333877,-0.7465158514846566,0.71338606911949],"aabb_xy":[[-0.5872744083839205,-0.778064998488178],[-0.4872744064828549,-0.7149667044811352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838347487958578,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7580.png","name":"7580"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8944.png","name":"8944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3558.png","name":"3558"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":842.8278719921286,"rotation_z_degrees":247.1024459309037,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017162390344005664,0.014890396739259282,-0.018691310887956513]},{"name":"camera_2","offset_m":[-0.005120590844170549,0.0161197219698089,0.003591516146707739]},{"name":"camera_3","offset_m":[-0.01359072955405034,-0.017055905336422685,-0.0015750888679848946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046345752820156475,0.0004983333330487831,0.0011559863789861657],"end_effector_yaw_offset_degrees":-0.05285186649946638},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00038994136790112687,-0.001814892956542829,-0.0007015871219020254],"end_effector_yaw_offset_degrees":0.32769907712356927},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002560209672095451,-0.0005916087868963983,-0.0016920745859483458],"end_effector_yaw_offset_degrees":0.8406958394619382}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031565374050200297,-0.0026490863592222936],"position_m":[0.35645653740502004,0.21475091364077772,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003232630212127276,-0.0002852516790279513],"position_m":[0.2707767369787873,-0.3385852516790279,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004248459758914398,0.004313287193363273],"position_m":[0.2974515402410856,0.3816132871933633,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008150885537448558,-0.0018017804540414882],"position_m":[0.35658491144625515,0.0628982195459585,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8287b2bea56a15e31b6a1b4ec6583dde04f3bca878636917c5769d8c0a2ca15f","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4693/tex_ceiling_textures_3558/tex_floor_textures_8944/tex_table_textures_9934/tex_wall_textures_7580","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4485293011259493971,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4485293011259493971,"visual_seed":4485293011259493971,"scene_id":"lab_003","finished_at":"2026-09-04T08:57:47"}
+{"episode_id":"ep_000097","started_at":"2026-09-04T08:57:51","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[0.0402470412962489,-0.9047591027716093,0.71338606911949],"aabb_xy":[[0.022747042018162023,-0.9220972028379553],[0.05774704057433577,-0.8874210027052634]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.08316438829421424,-2.1696456805927924,0.71338606911949],"aabb_xy":[[0.04566438987081388,-2.1828098945606227],[0.12066438671761458,-2.156481466624961]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.5793711121092779,-2.2917517890652985,0.71338606911949],"aabb_xy":[[0.5153711101969356,-2.347662938323309],[0.6433711140216203,-2.235840639807288]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.5434513285510927,-1.104615819094109,0.71338606911949],"aabb_xy":[[-0.5809513293430881,-1.110983660052299],[-0.5059513277590972,-1.0982479781359191]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.6042669116452257,-0.6350550739480283,0.71338606911949],"aabb_xy":[[0.5872568143551752,-0.6511895624463021],[0.6212770089352765,-0.6189205854497543]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.11420008172976792,0.4640620270110807,0.71338606911949],"aabb_xy":[[-0.12146132930017535,0.45127501674757114],[-0.10693883415936052,0.4768490372745901]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.24171839016955,0.4293652167325863,0.71338606911949],"aabb_xy":[[-0.3057183872816557,0.3803328469381757],[-0.17771839305744433,0.47839758652699693]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.46499103523592966,0.761933288105467,0.71338606911949],"aabb_xy":[[0.4371459984553226,0.7311487893671553],[0.49283607201653684,0.7927177868437787]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.2687923470248216,-0.6535914518215076,0.71338606911949],"aabb_xy":[[0.2317582375967618,-0.6879686591552169],[0.30582645645288126,-0.619214244487798]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.6193598608613504,0.20520067913158302,0.71338606911949],"aabb_xy":[[0.5698794396473917,0.14120068121873122],[0.6688402820753093,0.26920067704443484]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.5766967454524571,0.35391220673142465,0.71338606911949],"aabb_xy":[[-0.6016967447244194,0.3375668431352623],[-0.5516967461804948,0.370257570327587]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.4711692636377228,0.5623505054808562,0.71338606911949],"aabb_xy":[[-0.4886692638970595,0.5482589632920837],[-0.45366926337838626,0.5764420476696289]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[0.6069089086984185,-0.28930088850303237,0.71338606911949],"aabb_xy":[[0.6027730523657183,-0.32680088794738943],[0.6110447650311187,-0.2518008890586754]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.5994975715467536,0.9264019037503255,0.71338606911949],"aabb_xy":[[0.5354975708432844,0.8803835212774046],[0.6634975722502231,0.9724202862232466]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.6745635557290137,0.7538900110210092,0.71338606911949],"aabb_xy":[[-0.6833656110379863,0.74607868486608],[-0.6657615004200409,0.7617013371759381]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.677353983882101,0.784682114017575,0.71338606911949],"aabb_xy":[[0.6654212495202729,0.7722999612097158],[0.6892867182439291,0.7970642668254345]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[-0.5321524813172573,-2.3263120498418335,0.71338606911949],"aabb_xy":[[-0.5871447319527684,-2.3813120515851467],[-0.4771602306817465,-2.271312048098521]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.10337233542306701,-1.7390205863949257,0.71338606911949],"aabb_xy":[[-0.1258723349467744,-1.7615165338455465],[-0.0808723358993596,-1.716524638944305]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.5787468426179505,-2.4687264048944875,0.71338606911949],"aabb_xy":[[0.4987530190393924,-2.548726407487329],[0.6587406661965088,-2.388726402301646]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.6509521481091727,-0.9029545202731963,0.71338606911949],"aabb_xy":[[-0.6634195062189082,-0.91541984490652],[-0.6384847899994369,-0.8904891956398729]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.36045613742435023,-1.5363854281973057,0.71338606911949],"aabb_xy":[[0.27045613509033123,-1.6138677827824186],[0.45045613975836934,-1.4589030736121933]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.10377660084954488,-1.5165206478062165,0.71338606911949],"aabb_xy":[[-0.11966109411487004,-1.5308735881050406],[-0.08789210758421974,-1.5021677075073925]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[0.42916144609195195,-0.8826239085028944,0.71338606911949],"aabb_xy":[[0.37916661316401035,-0.9326239073981378],[0.47915627901989355,-0.8326239096076508]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[0.5068870099361653,1.1220570569336363,0.71338606911949],"aabb_xy":[[0.49746953536630245,1.1126408797959173],[0.516304484506028,1.1314732340713554]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[-0.2330483679623856,0.26235910842602816,0.71338606911949],"aabb_xy":[[-0.29704836654895805,0.2153521450265194],[-0.16904836937581316,0.3093660718255368]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.4109315995995104,1.0558691111404466,0.71338606911949],"aabb_xy":[[-0.4609316012610051,1.0058706688847436],[-0.36093159793801555,1.105867553396149]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[-0.39380259045882154,0.7081397868649089,0.71338606911949],"aabb_xy":[[-0.4030962086959721,0.6706397883767748],[-0.38450897222167096,0.7456397853530427]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[-0.3764713385961908,-2.0766372936317588,0.71338606911949],"aabb_xy":[[-0.393573416554559,-2.093744099163029],[-0.3593692606378227,-2.0595304881004894]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[0.7071322840050784,-2.051036751283121,0.71338606911949],"aabb_xy":[[0.6895539818161317,-2.0686112408572264],[0.7247105861940254,-2.0334622617090163]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[0.5742746227620834,1.5271930427662714,0.71338606911949],"aabb_xy":[[0.5443070658522576,1.4971930424683855],[0.604242179671909,1.557193043064157]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[-0.14076817472243996,-2.4724936868944347,0.71338606911949],"aabb_xy":[[-0.1694175070828562,-2.5011392461715105],[-0.11211884236202374,-2.443848127617359]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853205804237633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6739.png","name":"6739"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6739.png","name":"6739"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/108.png","name":"108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9588.png","name":"9588"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7027.png","name":"7027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4893.png","name":"4893"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":544.4311759276966,"rotation_z_degrees":221.53645819020178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003595468009114415,0.006164439901654387,0.001938376745639226]},{"name":"camera_2","offset_m":[-0.0021308259429663363,0.001758168949550304,-0.018481614577543458]},{"name":"camera_3","offset_m":[-8.598933530548636e-05,0.0006144711431458373,0.011438782732133081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004861644821689999,0.0010808156876643362,-0.0006713353135963983],"end_effector_yaw_offset_degrees":-0.43364786679201206},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001669980411172249,-0.0019687446311346035,-0.0013320385182082797],"end_effector_yaw_offset_degrees":-0.3081501699709799},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008343830757119352,0.0019877629975643997,0.0011053232261872357],"end_effector_yaw_offset_degrees":-0.6999200274794475}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001507972825809536,0.0002752873097278648],"position_m":[0.35480797282580956,0.21767528730972788,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003495545325197834,0.0007423673802521213],"position_m":[0.26760445467480215,-0.33755763261974786,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028063035917183666,0.004831192042930568],"position_m":[0.2988936964082817,0.3821311920429306,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021237710479419312,-0.004252786662593267],"position_m":[0.35527622895205807,0.06044721333740673,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13a5350ff3144afb024c85fabe1cb0e619e9bf278948686868663fc2c434f011","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6739/tex_ceiling_textures_4893/tex_floor_textures_7027/tex_table_textures_108/tex_wall_textures_9588","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5501651771412658695,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5501651771412658695,"visual_seed":5501651771412658695,"scene_id":"lab_003","finished_at":"2026-09-04T09:00:53"}
+{"episode_id":"ep_000098","started_at":"2026-09-04T09:00:56","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.37210138950137983,-2.0435529335881624,0.71338606911949],"aabb_xy":[[-0.3785152031445647,-2.0499627538358305],[-0.36568757585819484,-2.0371431133404934]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.5331205157306875,1.8046171246328622,0.71338606911949],"aabb_xy":[[0.46812051757476847,1.77832088008295],[0.5981205138866066,1.8309133691827744]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.3106541978206312,-1.6440312606918184,0.71338606911949],"aabb_xy":[[0.2466541959082889,-1.6999424099498293],[0.3746541997329736,-1.5881201114338084]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.037830676448225464,-1.0569894400677562,0.71338606911949],"aabb_xy":[[0.029116707398290972,-1.0794894407269442],[0.046544645498159946,-1.0344894394085677]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.41926320796010114,-0.6471721793466032,0.71338606911949],"aabb_xy":[[-0.46534829921483256,-0.7111721765991583],[-0.3731781167053696,-0.5831721820940481]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.28594446986754396,-0.8666389110278723,0.71338606911949],"aabb_xy":[[0.21594446826526448,-0.88007170422953],[0.35594447146982344,-0.8532061178262148]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.5560607816833476,0.2872962217713235,0.71338606911949],"aabb_xy":[[0.5347827735398752,0.2222962194452504],[0.5773387898268197,0.3522962240973965]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.5749123304669873,1.3917558060764832,0.71338606911949],"aabb_xy":[[-0.5900146319280052,1.3766542844454206],[-0.559810029005969,1.4068573277075445]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.551402796650647,-0.17743039045018927,0.71338606911949],"aabb_xy":[[0.5101539856207321,-0.23243038996240672],[0.5926516076805616,-0.12243039093797183]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.3783742959217855,0.5500144479816997,0.71338606911949],"aabb_xy":[[-0.4035951327816252,0.5247906971288129],[-0.35315345906194584,0.5752381988345864]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.41137977941784515,0.07365920869764153,0.71338606911949],"aabb_xy":[[-0.43521599705845027,-0.01634079211084494],[-0.38754356177724014,0.16365920950612803]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.35925243981867694,-1.1453734442639474,0.71338606911949],"aabb_xy":[[0.35554917848953804,-1.1490754625726651],[0.36295570114781583,-1.1416714259552292]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[-0.5988417302212437,-0.1384981048553291,0.71338606911949],"aabb_xy":[[-0.6107744645830717,-0.15088025766318847],[-0.5869089958594156,-0.12611595204746973]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.29702185775626144,-2.3143134235301,0.71338606911949],"aabb_xy":[[0.24202637993560205,-2.3693134249640067],[0.35201733557692083,-2.259313422096193]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.04071260403273225,-1.340393722616815,0.71338606911949],"aabb_xy":[[0.02784070053179211,-1.420393723030651],[0.05358450753367239,-1.2603937222029786]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.5825929307820239,0.705308641031356,0.71338606911949],"aabb_xy":[[0.5374216129338549,0.6413086438868176],[0.6277642486301929,0.7693086381758946]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.617482105373492,-0.7537998281354987,0.71338606911949],"aabb_xy":[[0.5674821040896519,-0.8037786825261207],[0.6674821066573319,-0.7038209737448765]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.30891030995117075,1.5841393051533035,0.71338606911949],"aabb_xy":[[0.2449103135238489,1.5369696813312073],[0.3729103063784927,1.6313089289754001]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[-0.47506194748587743,-1.0900409958645558,0.71338606911949],"aabb_xy":[[-0.5085411147469183,-1.1235201092356628],[-0.4415827802248365,-1.0565618824934488]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.4750447450224135,-1.3128088840480867,0.71338606911949],"aabb_xy":[[-0.5125447455197718,-1.316777567596205],[-0.43754474452505526,-1.308840200499968]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.591761846795198,-1.8307897755931728,0.71338606911949],"aabb_xy":[[-0.6417611219636342,-1.8807897768691202],[-0.5417625716267619,-1.7807897743172258]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.0015698277004504435,-2.031345414968792,0.71338606911949],"aabb_xy":[[-0.007128134590264847,-2.043470389276267],[0.010267789991165734,-2.0192204406613175]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.5016772103224618,-2.451653554417004,0.71338606911949],"aabb_xy":[[0.451677208660967,-2.5016519966727064],[0.5516772119839565,-2.401655112161301]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.2040098958549591,0.6739704620622198,0.71338606911949],"aabb_xy":[[-0.22647466582636422,0.6514704611833592],[-0.18154512588355398,0.6964704629410802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847289971212625,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9425.png","name":"9425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9425.png","name":"9425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1066.png","name":"1066"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9246.png","name":"9246"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7818.png","name":"7818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7.png","name":"7"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":630.631858121556,"rotation_z_degrees":192.43199837211796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013793226851497621,-0.011622357181679525,0.010173102184362216]},{"name":"camera_2","offset_m":[-0.007549536754989258,-0.013939024963760831,0.007741414741683533]},{"name":"camera_3","offset_m":[-0.010718066091929797,-0.003350986335174045,-0.003511359904483903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017332075899004788,-0.001694388302245001,0.0011402523055799242],"end_effector_yaw_offset_degrees":0.2497839973546363},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001014023308654658,-0.0017833448783543839,-0.000655401440328308],"end_effector_yaw_offset_degrees":-0.6264666403041794},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009359550630559372,-0.001678856743652467,-0.0012386105639890354],"end_effector_yaw_offset_degrees":-0.09279932072848984}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003805851975969706,0.0011227426039080637],"position_m":[0.3571058519759697,0.21852274260390808,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00024480012913901186,-0.002446103548392178],"position_m":[0.270855199870861,-0.3407461035483922,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002947703321156213,0.0036685131108598274],"position_m":[0.2987522966788438,0.38096851311085983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003430937317084708,-0.0018094642491125966],"position_m":[0.3539690626829153,0.06289053575088739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"57eb021c7d6cd88ade334f0d53de9036384293be888db0139921757f8fd3650e","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9425/tex_ceiling_textures_7/tex_floor_textures_7818/tex_table_textures_1066/tex_wall_textures_9246","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2826991006001871461,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2826991006001871461,"visual_seed":2826991006001871461,"scene_id":"lab_003","finished_at":"2026-09-04T09:04:01"}
+{"episode_id":"ep_000099","started_at":"2026-09-04T09:04:04","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.21114949126601423,-1.1463059570755871,0.71338606911949],"aabb_xy":[[-0.22631236424295134,-1.1614714143707061],[-0.19598661828907718,-1.1311404997804686]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[-0.032084200844678556,-1.7652079181273208,0.71338606911949],"aabb_xy":[[-0.05458333657090553,-1.7877079189055838],[-0.009585065118451586,-1.7427079173490578]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.6242413303068721,-1.7371718202477437,0.71338606911949],"aabb_xy":[[0.6017413304929696,-1.7416464366182245],[0.6467413301207744,-1.732697203877263]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.32303343871653234,1.2635818581109755,0.71338606911949],"aabb_xy":[[-0.3295350752245369,1.2538140360846657],[-0.31653180220852767,1.2733496801372852]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.12862005537277177,1.0568007926356882,0.71338606911949],"aabb_xy":[[0.05862005356402633,1.0354470238715008],[0.1986200571815172,1.0781545613998755]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.4731035327654143,0.7511918060913438,0.71338606911949],"aabb_xy":[[0.46966285652535716,0.7473303731169794],[0.4765442090054715,0.7550532390657084]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.48984232176277565,1.3943500400639608,0.71338606911949],"aabb_xy":[[0.4763957951287323,1.3808801884108695],[0.503288848396819,1.4078198917170521]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.6629283892041068,0.21564079547811144,0.71338606911949],"aabb_xy":[[-0.681812772972617,0.19675487069775863],[-0.6440440054355966,0.2345267202584642]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.36870641131806225,-0.7881122056880772,0.71338606911949],"aabb_xy":[[0.2887064141584869,-0.7996598066458942],[0.4487064084776375,-0.7765646047302601]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.42566214315659806,-2.054801042236461,0.71338606911949],"aabb_xy":[[-0.4756621427329328,-2.1047816211885673],[-0.37566214358026334,-2.0048204632843554]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.35183041147803906,-2.4920124044345235,0.71338606911949],"aabb_xy":[[0.2621433351699236,-2.582012404688974],[0.4415174877861545,-2.402012404180073]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.4934607155238965,-2.2122872061325998,0.71338606911949],"aabb_xy":[[-0.5109607157832332,-2.226378748321373],[-0.4759607152645599,-2.1981956639438276]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.6095787633868773,-0.3365726525482482,0.71338606911949],"aabb_xy":[[-0.6199903220673609,-0.34191838588414664],[-0.5991672047063935,-0.33122691921234965]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.6451948167114918,0.6140880329417335,0.71338606911949],"aabb_xy":[[0.6381545067779549,0.5340880335420621],[0.6522351266450289,0.6940880323414049]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[-0.29183161552964565,-2.2520546521672538,0.71338606911949],"aabb_xy":[[-0.34683161373139043,-2.2925766187936913],[-0.23683161732790078,-2.211532685540816]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.4908008569120741,-1.1608299050774435,0.71338606911949],"aabb_xy":[[0.4358008577354846,-1.2158195798524012],[0.5458008560886636,-1.105840230302486]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.2043138827896987,-0.9286448509485514,0.71338606911949],"aabb_xy":[[-0.2544113467707723,-0.9926448514583633],[-0.15421641880862508,-0.8646448504387397]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.3818711050334683,1.0693043229659325,0.71338606911949],"aabb_xy":[[-0.445871102319117,1.0277976040130885],[-0.3178711077478197,1.1108110419187764]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.16435693095178794,1.5921123476572387,0.71338606911949],"aabb_xy":[[0.10035692954379725,1.540323396133314],[0.22835693235977858,1.6439012991811635]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.16916902806084955,-1.9837759448384351,0.71338606911949],"aabb_xy":[[0.10517333066575293,-2.0477759431391442],[0.2331647254559461,-1.9197759465377267]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[0.22774826020907746,-0.6206403058590655,0.71338606911949],"aabb_xy":[[0.21007262962047912,-0.6383205221384681],[0.2454238907976758,-0.6029600895796626]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.12051642838002252,1.7910564003746647,0.71338606911949],"aabb_xy":[[-0.15497877577816432,1.7565625179768418],[-0.08605408098188072,1.8255502827724872]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.684102930801573,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1778.png","name":"1778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1778.png","name":"1778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1163.png","name":"1163"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2519.png","name":"2519"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6397.png","name":"6397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7985.png","name":"7985"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":728.7652385265608,"rotation_z_degrees":181.17552984510914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0001225672638984661,-0.018710331755634656,-0.008041139309249714]},{"name":"camera_2","offset_m":[0.014587911245176579,0.015027273872384821,0.016170580006218866]},{"name":"camera_3","offset_m":[0.004840897100211815,-0.018523866412534083,-0.017036386211074762]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000894589541958478,0.00015294662817287715,-7.630593977111556e-05],"end_effector_yaw_offset_degrees":-0.8903388478278842},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005743600534772794,0.0009430180116698516,0.0004944996260846574],"end_effector_yaw_offset_degrees":-0.75467067967588},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000373977873512496,0.0016181563174998592,-0.0010956454710426744],"end_effector_yaw_offset_degrees":0.806915197158649}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_hta_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004866159981347914,-0.0032356128853279842],"position_m":[0.35816615998134793,0.21416438711467203,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002567560565603727,0.003781715238984992],"position_m":[0.2736675605656037,-0.334518284761015,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022783412881611786,-0.004818299200374957],"position_m":[0.29942165871183885,0.37248170079962506,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022836067537655826,0.003121114984425531],"position_m":[0.3551163932462344,0.06782111498442553,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa83c00e399f3edcbc57909da029fe7edb10057a0241cbbee6f8ccfaef1ad65b","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1778/tex_ceiling_textures_7985/tex_floor_textures_6397/tex_table_textures_1163/tex_wall_textures_2519","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7069541583538763979,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7069541583538763979,"visual_seed":7069541583538763979,"scene_id":"lab_003","finished_at":"2026-09-04T09:07:16"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9448413a14fc9acd51a029d41b4dd2cf95152d88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/resolved_config.yaml
@@ -0,0 +1,233 @@
+name: lab3_heat_2beaker_s03_plr_hta_00049
+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. Place beaker a on the heater platform.
+    Press the heater button to start heating.
+  layout_id: layout_00049
+  reproducibility:
+    enabled: true
+    layout_id: layout_00049
+    action_seed: 9141974314119947804
+    step_seeds:
+    - 4852920287294042381
+    - 693334814367054326
+    - 1251271704136841748
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3533
+      - 0.3533
+      'y':
+      - 0.2174
+      - 0.2174
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3017
+      - 0.3017
+      'y':
+      - 0.3773
+      - 0.3773
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3574
+      - 0.3574
+      'y':
+      - 0.0647
+      - 0.0647
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2711
+      - 0.2711
+      'y':
+      - -0.3383
+      - -0.3383
+      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_00049
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec1ad11e917c441740c44f60bb0cc25e6e142f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/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_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": [
+              0.38336452026388945,
+              0.21154287953724518,
+              1.1641129738231712
+            ],
+            "current_z": 1.1641129738231712,
+            "required_z": 0.8611067469504092,
+            "initial_z": 0.7611067469504093,
+            "lift_margin": 0.303006226872762,
+            "gripper_z": 1.1532978810624341,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37798488293944515,
+              0.206471859253595,
+              1.1532978810624341
+            ],
+            "object_minus_gripper": [
+              0.005379637324444297,
+              0.005071020283650168,
+              0.01081509276073711
+            ],
+            "object_to_gripper_xy": 0.007392952350701689,
+            "object_to_gripper_z": 0.01081509276073711,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38336452026388945,
+              0.18724619587928223,
+              1.1641129738231712
+            ],
+            "finger_b": [
+              0.3720587418134595,
+              0.21154287953724518,
+              1.1641129738231712
+            ],
+            "finger_midpoint": [
+              0.37771163103867444,
+              0.1993945377082637,
+              1.1641129738231712
+            ],
+            "object_minus_finger_midpoint": [
+              0.005652889225215008,
+              0.012148341828981474,
+              0.0
+            ],
+            "finger_gap": 0.026798310826343704,
+            "fingertip_max_gap": 0.09040243304160431,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013399155413171864,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641129738231712,
+            "object_top_z": 1.2140162292275973,
+            "finger_top_clearance": 0.04990325540442608,
+            "fingertip_min_top_clearance": 0.014970976621327825,
+            "object_projection_between_fingers": 0.822013894140669,
+            "object_to_finger_line_xy": 0.010250381984788328,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047701216520802156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2740832495623971,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33020076866475595,
+              -0.33465006898420535,
+              0.8515395162722892
+            ],
+            "target_position": [
+              0.320078388456202,
+              -0.3373261953120872,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.01047015917783998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546669620804196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395162722892,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582490732179363,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629355685502009,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15296932010774908,
+            "release_required_pad_clearance": 0.05314677842751005,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.31876406335321,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008146166801452637,
+            "max_z_decrease": 0.008146166801452637,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501908312614239,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008146166801452637,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020997759025100475,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008146166801452637,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008146246052427386,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1757783144712448,
+              -0.3935876488685608,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1757783144712448,
+              -0.3935876488685608,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17702623330618833,
+              -0.39390685005599335,
+              0.8036589005916935
+            ],
+            "closest_button": [
+              0.1758073568344116,
+              -0.3935664892196655,
+              0.768662691116333
+            ],
+            "closest_ee_minus_button": [
+              0.0012188764717767364,
+              -0.0003403608363278243,
+              0.03499620947536053
+            ],
+            "button_min_z_position": [
+              0.1758073568344116,
+              -0.3935664892196655,
+              0.768662691116333
+            ],
+            "min_active_finger_to_button": 0.14451703561011037,
+            "closest_active_finger": [
+              0.036048345267772675,
+              -0.3802590072154999,
+              0.8104940056800842
+            ],
+            "closest_active_finger_button": [
+              0.17578142881393433,
+              -0.39359086751937866,
+              0.7761123180389404
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13973308354616165,
+              0.013331860303878784,
+              0.0343816876411438
+            ],
+            "min_contact_pad_to_button": 0.020997759025100475,
+            "closest_contact_pad": [
+              0.1758073568344116,
+              -0.39486454089299017,
+              0.7896202898797784
+            ],
+            "closest_contact_pad_button": [
+              0.1758073568344116,
+              -0.3935664892196655,
+              0.768662691116333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012980516733246406,
+              0.020957598763445384
+            ]
+          },
+          "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": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da26a8c3708bf0a40e956baa12994a31ada3bf30430466e11e35c714e39439cc",
+    "visual_seed": 63849544308972796,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6374c6a3c144544b352269170d6fd658ec574867
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_10_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3768125231715037,
+              0.21662290957804986,
+              1.1656151159618378
+            ],
+            "current_z": 1.1656151159618378,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3045084291331377,
+            "gripper_z": 1.1547289082756413,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3715717170186163,
+              0.21167310858948862,
+              1.1547289082756413
+            ],
+            "object_minus_gripper": [
+              0.005240806152887412,
+              0.004949800988561237,
+              0.010886207686196414
+            ],
+            "object_to_gripper_xy": 0.007208784846179302,
+            "object_to_gripper_z": 0.010886207686196414,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3768125231715037,
+              0.1923045494356325,
+              1.1656151159618378
+            ],
+            "finger_b": [
+              0.3658368144038812,
+              0.21662290957804986,
+              1.1656151159618378
+            ],
+            "finger_midpoint": [
+              0.37132466878769244,
+              0.20446372950684116,
+              1.1656151159618378
+            ],
+            "object_minus_finger_midpoint": [
+              0.005487854383811275,
+              0.012159180071208697,
+              0.0
+            ],
+            "finger_gap": 0.02668049517846284,
+            "fingertip_max_gap": 0.09100176057756312,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013340247589231444,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656151159618378,
+            "object_top_z": 1.2155705214356822,
+            "finger_top_clearance": 0.04995540547384447,
+            "fingertip_min_top_clearance": 0.014986621642153341,
+            "object_projection_between_fingers": 0.830769990671061,
+            "object_to_finger_line_xy": 0.010003983690857038,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048000880288781564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7981839798021211,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3296813846594426,
+              -0.338172777220975,
+              0.8515394992365538
+            ],
+            "target_position": [
+              0.31988222088675544,
+              -0.3406580226728651,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010109404314799387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18515923401569903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394992365538,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554508521305714,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593046177489831,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15345410858071504,
+            "release_required_pad_clearance": 0.05296523088744916,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9658998381683559,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104443550109863,
+            "max_z_decrease": 0.008104443550109863,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03496019461886616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104443550109863,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021127732330001286,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008104443550109863,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104462644549518,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17558214068412778,
+              -0.39691948890686035,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17558214068412778,
+              -0.39691948890686035,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17419549964216297,
+              -0.3974889670914676,
+              0.8036317177207237
+            ],
+            "closest_button": [
+              0.1755964159965515,
+              -0.3969092071056366,
+              0.7687044143676758
+            ],
+            "closest_ee_minus_button": [
+              -0.0014009163543885483,
+              -0.0005797599858309854,
+              0.034927303353047945
+            ],
+            "button_min_z_position": [
+              0.1755964159965515,
+              -0.3969092071056366,
+              0.7687044143676758
+            ],
+            "min_active_finger_to_button": 0.14714744695186172,
+            "closest_active_finger": [
+              0.033671602606773376,
+              -0.3794608414173126,
+              0.8074877262115479
+            ],
+            "closest_active_finger_button": [
+              0.17559105157852173,
+              -0.39692890644073486,
+              0.7727586627006531
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14191944897174835,
+              0.01746806502342224,
+              0.034729063510894775
+            ],
+            "min_contact_pad_to_button": 0.021127732330001286,
+            "closest_contact_pad": [
+              0.1755964159965515,
+              -0.39884019916130875,
+              0.7897437190873929
+            ],
+            "closest_contact_pad_button": [
+              0.1755964159965515,
+              -0.3969092071056366,
+              0.7687044143676758
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019309920556721538,
+              0.021039304719717156
+            ]
+          },
+          "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": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43df0258d715d4721b418c553210aefc28718c62ddf459e1014510d0f6453650",
+    "visual_seed": 1316526368373927667,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d1455d9debe13aefe1e5794b66c65fc3b8aee10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_11_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38646388807835064,
+              0.20928681522365733,
+              1.162416712478643
+            ],
+            "current_z": 1.162416712478643,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3013102640685221,
+            "gripper_z": 1.151793643131433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.381419049661064,
+              0.20426570619207668,
+              1.151793643131433
+            ],
+            "object_minus_gripper": [
+              0.005044838417286646,
+              0.005021109031580651,
+              0.010623069347210023
+            ],
+            "object_to_gripper_xy": 0.0071177194777226225,
+            "object_to_gripper_z": 0.010623069347210023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38646388807835064,
+              0.18541768309617487,
+              1.162416712478643
+            ],
+            "finger_b": [
+              0.3749823722847485,
+              0.20928681522365733,
+              1.162416712478643
+            ],
+            "finger_midpoint": [
+              0.3807231301815496,
+              0.19735224915991612,
+              1.162416712478643
+            ],
+            "object_minus_finger_midpoint": [
+              0.005740757896801063,
+              0.011934566063741214,
+              0.0
+            ],
+            "finger_gap": 0.026486990645181837,
+            "fingertip_max_gap": 0.09076443258861636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013243495322590906,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162416712478643,
+            "object_top_z": 1.2122503418473447,
+            "finger_top_clearance": 0.049833629368701615,
+            "fingertip_min_top_clearance": 0.014950088810610484,
+            "object_projection_between_fingers": 0.8120972142398823,
+            "object_to_finger_line_xy": 0.010346732898896446,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788221629430818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7554410472047923,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33516434082810853,
+              -0.33798091151214116,
+              0.8515395000667396
+            ],
+            "target_position": [
+              0.32553943504906424,
+              -0.3402387311540746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009886180293266994,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18486200275367584,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395000667396,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513605295434292,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852426781293578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541817110323367,
+            "release_required_pad_clearance": 0.052621339064678904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3039021457966471,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007884025573730469,
+            "max_z_decrease": 0.007884025573730469,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511757186022351,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007884025573730469,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021091377874049688,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007884025573730469,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007884045911279303,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18123936653137207,
+              -0.3965002000331878,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18123936653137207,
+              -0.3965002000331878,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17948165633956487,
+              -0.39529527452979296,
+              0.8077785818572976
+            ],
+            "closest_button": [
+              0.18122945725917816,
+              -0.3965033888816833,
+              0.7727253437042236
+            ],
+            "closest_ee_minus_button": [
+              -0.001747800919613296,
+              0.0012081143518903326,
+              0.03505323815307393
+            ],
+            "button_min_z_position": [
+              0.18122169375419617,
+              -0.3965030908584595,
+              0.7689248323440552
+            ],
+            "min_active_finger_to_button": 0.1472275661683816,
+            "closest_active_finger": [
+              0.052459269762039185,
+              -0.45894548296928406,
+              0.8111386895179749
+            ],
+            "closest_active_finger_button": [
+              0.18124309182167053,
+              -0.39650267362594604,
+              0.7766194343566895
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12878382205963135,
+              -0.06244280934333801,
+              0.0345192551612854
+            ],
+            "min_contact_pad_to_button": 0.021091377874049688,
+            "closest_contact_pad": [
+              0.18122169375419617,
+              -0.3965030908584595,
+              0.7900162102181049
+            ],
+            "closest_contact_pad_button": [
+              0.18122169375419617,
+              -0.3965030908584595,
+              0.7689248323440552
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021091377874049688
+            ]
+          },
+          "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": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8bf4f552a646fff71bb004e9ec41fcc8ff397a18c202799e94e4ffc7e5b8304",
+    "visual_seed": 1920769641227626858,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98504d5336b93b6f7a86b77eaef8569006190f92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_12_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37834058998474335,
+              0.21111401021390314,
+              1.1635414178767647
+            ],
+            "current_z": 1.1635414178767647,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3024349098619985,
+            "gripper_z": 1.1526748837436627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3731864185073556,
+              0.20622006627522005,
+              1.1526748837436627
+            ],
+            "object_minus_gripper": [
+              0.005154171477387726,
+              0.004893943938683087,
+              0.010866534133102013
+            ],
+            "object_to_gripper_xy": 0.007107472890788265,
+            "object_to_gripper_z": 0.010866534133102013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37834058998474335,
+              0.186749720792444,
+              1.1635414178767647
+            ],
+            "finger_b": [
+              0.36758214101148406,
+              0.21111401021390314,
+              1.1635414178767647
+            ],
+            "finger_midpoint": [
+              0.3729613654981137,
+              0.19893186550317357,
+              1.1635414178767647
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379224486629641,
+              0.012182144710729564,
+              0.0
+            ],
+            "finger_gap": 0.02663386609793721,
+            "fingertip_max_gap": 0.09098676849860723,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013316933048968605,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635414178767647,
+            "object_top_z": 1.213434805427187,
+            "finger_top_clearance": 0.049893387550422386,
+            "fingertip_min_top_clearance": 0.014968016265126715,
+            "object_projection_between_fingers": 0.8368335349630444,
+            "object_to_finger_line_xy": 0.009841679144387907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799338424930362,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.847608978513718,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3333663197085966,
+              -0.3400151576710441,
+              0.8515396082972305
+            ],
+            "target_position": [
+              0.3255189664966562,
+              -0.34160113973797485,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008006015959862766,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18456239821109283,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396082972305,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524188880587572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688368621978963,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15335899923621163,
+            "release_required_pad_clearance": 0.05344184310989482,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8974771616342758,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008120596408843994,
+            "max_z_decrease": 0.008120596408843994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034999306731267686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008120596408843994,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021224828440233597,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008120596408843994,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008120629380156908,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1812188923358916,
+              -0.3978625833988189,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1812188923358916,
+              -0.3978625833988189,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18074709934106573,
+              -0.39821712629508726,
+              0.8036828598380078
+            ],
+            "closest_button": [
+              0.18119598925113667,
+              -0.3978592753410339,
+              0.7686882615089417
+            ],
+            "closest_ee_minus_button": [
+              -0.00044888991007094314,
+              -0.00035785095405338474,
+              0.03499459832906615
+            ],
+            "button_min_z_position": [
+              0.18119598925113667,
+              -0.3978592753410339,
+              0.7686882615089417
+            ],
+            "min_active_finger_to_button": 0.14631623496081375,
+            "closest_active_finger": [
+              0.04009293019771576,
+              -0.38127419352531433,
+              0.8078362345695496
+            ],
+            "closest_active_finger_button": [
+              0.18122896552085865,
+              -0.39786729216575617,
+              0.7729976177215576
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411360353231429,
+              0.01659309864044184,
+              0.03483861684799194
+            ],
+            "min_contact_pad_to_button": 0.021224828440233597,
+            "closest_contact_pad": [
+              0.18119598925113667,
+              -0.39947580826645834,
+              0.7898514409396975
+            ],
+            "closest_contact_pad_button": [
+              0.18119598925113667,
+              -0.3978592753410339,
+              0.7686882615089417
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016165329254244631,
+              0.021163179430755852
+            ]
+          },
+          "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": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "987a99d2706e42acfa548122dd3763f5fd2b23d3f2a65f2ed7fc494572733f38",
+    "visual_seed": 8065192577108126466,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b19f973df090530e215681b37b0ebfe61f59494
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_13_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38264790636614987,
+              0.21620312755321233,
+              1.165391767423843
+            ],
+            "current_z": 1.165391767423843,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3042853786183666,
+            "gripper_z": 1.1545568047342318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37744618173808847,
+              0.21113737619448997,
+              1.1545568047342318
+            ],
+            "object_minus_gripper": [
+              0.005201724628061399,
+              0.005065751358722365,
+              0.01083496268961115
+            ],
+            "object_to_gripper_xy": 0.00726083851456414,
+            "object_to_gripper_z": 0.01083496268961115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38264790636614987,
+              0.19216598179117203,
+              1.165391767423843
+            ],
+            "finger_b": [
+              0.37117652706783616,
+              0.21620312755321233,
+              1.165391767423843
+            ],
+            "finger_midpoint": [
+              0.37691221671699304,
+              0.20418455467219218,
+              1.165391767423843
+            ],
+            "object_minus_finger_midpoint": [
+              0.005735689649156828,
+              0.01201857288102015,
+              0.0
+            ],
+            "finger_gap": 0.026634130723403614,
+            "fingertip_max_gap": 0.09081171735300578,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013317065361701795,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165391767423843,
+            "object_top_z": 1.2152507684306246,
+            "finger_top_clearance": 0.049859001006781645,
+            "fingertip_min_top_clearance": 0.014957700302034492,
+            "object_projection_between_fingers": 0.8144955954886618,
+            "object_to_finger_line_xy": 0.01035285210352008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790585867650289,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7439856527585124,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3354325360082999,
+              -0.33135806816225,
+              0.8515396390721552
+            ],
+            "target_position": [
+              0.326038139259769,
+              -0.33361021436793115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009660582425535871,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18488208938002515,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396390721552,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520671844593428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648742099436223,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15388953234509878,
+            "release_required_pad_clearance": 0.053243710497181115,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.508146808557432,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008055388927459717,
+            "max_z_decrease": 0.008055388927459717,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500969001830215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008055388927459717,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021228294953112545,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008055388927459717,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008055403388357876,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18173806369304651,
+              -0.38987168669700617,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18173806369304651,
+              -0.38987168669700617,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18130449560758133,
+              -0.389072863008477,
+              0.8073650879235919
+            ],
+            "closest_button": [
+              0.1817273795604705,
+              -0.38987398147582997,
+              0.7723671197891235
+            ],
+            "closest_ee_minus_button": [
+              -0.00042288395288916925,
+              0.0008011184673529792,
+              0.034997968134468316
+            ],
+            "button_min_z_position": [
+              0.1817228198051452,
+              -0.38987246155738825,
+              0.7687534689903259
+            ],
+            "min_active_finger_to_button": 0.14635161655393836,
+            "closest_active_finger": [
+              0.05344659090042114,
+              -0.4510309100151062,
+              0.8077756762504578
+            ],
+            "closest_active_finger_button": [
+              0.1817515939474105,
+              -0.3898766934871673,
+              0.7728932499885559
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12830500304698936,
+              -0.0611542165279389,
+              0.034882426261901855
+            ],
+            "min_contact_pad_to_button": 0.021228294953112545,
+            "closest_contact_pad": [
+              0.1817228198051452,
+              -0.39042262218145896,
+              0.789974633659214
+            ],
+            "closest_contact_pad_button": [
+              0.1817228198051452,
+              -0.38987246155738825,
+              0.7687534689903259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005501606240707058,
+              0.021221164668888126
+            ]
+          },
+          "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": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2c1637c20dc8ec9c7b368c12c0dd9c9a60232f031c87c8fd848ea973922cb52",
+    "visual_seed": 9191759761699671360,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c809da926292772bb664799da4b8d1b6966c9db0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_14_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3827092492679835,
+              0.21754289954458472,
+              1.165346784725385
+            ],
+            "current_z": 1.165346784725385,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30424009789668494,
+            "gripper_z": 1.1544655610543506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.377343386766683,
+              0.21253756981619754,
+              1.1544655610543506
+            ],
+            "object_minus_gripper": [
+              0.0053658625013005,
+              0.005005329728387187,
+              0.010881223671034501
+            ],
+            "object_to_gripper_xy": 0.007337970160251363,
+            "object_to_gripper_z": 0.010881223671034501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3827092492679835,
+              0.1930720819024674,
+              1.165346784725385
+            ],
+            "finger_b": [
+              0.3717372271555044,
+              0.21754289954458472,
+              1.165346784725385
+            ],
+            "finger_midpoint": [
+              0.37722323821174397,
+              0.20530749072352605,
+              1.165346784725385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005486011056239526,
+              0.012235408821058669,
+              0.0
+            ],
+            "finger_gap": 0.026818019787271587,
+            "fingertip_max_gap": 0.09105748825534551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013409009893635793,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165346784725385,
+            "object_top_z": 1.215240129780494,
+            "finger_top_clearance": 0.049893345055108895,
+            "fingertip_min_top_clearance": 0.014968003516532635,
+            "object_projection_between_fingers": 0.8326136903497865,
+            "object_to_finger_line_xy": 0.010011714302902715,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802874412767276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8876435271647954,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3274110643569109,
+              -0.3358735140494531,
+              0.8515395834560051
+            ],
+            "target_position": [
+              0.3195195811312521,
+              -0.3374383626506199,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008045138820767975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520610380426367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395834560051,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541085338779123,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868756899741439,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15356922609376214,
+            "release_required_pad_clearance": 0.05343784498707195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.889623324891055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008029460906982422,
+            "max_z_decrease": 0.008029460906982422,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502815669626606,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008029460906982422,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021240545752074465,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008029460906982422,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008029480053522582,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17521950602531433,
+              -0.393699824810028,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17521950602531433,
+              -0.393699824810028,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17616462273420494,
+              -0.3935444269247624,
+              0.8037939722677886
+            ],
+            "closest_button": [
+              0.17520228028297424,
+              -0.3937031030654907,
+              0.7687793970108032
+            ],
+            "closest_ee_minus_button": [
+              0.0009623424512306966,
+              0.00015867614072834213,
+              0.03501457525698537
+            ],
+            "button_min_z_position": [
+              0.17520228028297424,
+              -0.3937031030654907,
+              0.7687793970108032
+            ],
+            "min_active_finger_to_button": 0.14500040060608688,
+            "closest_active_finger": [
+              0.04826512187719345,
+              -0.45448070764541626,
+              0.8077110052108765
+            ],
+            "closest_active_finger_button": [
+              0.1752326786518097,
+              -0.3937050104141235,
+              0.772916316986084
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12696755677461624,
+              -0.06077569723129278,
+              0.03479468822479248
+            ],
+            "min_contact_pad_to_button": 0.021240545752074465,
+            "closest_contact_pad": [
+              0.17520228028297424,
+              -0.3949309127992173,
+              0.7899844262987749
+            ],
+            "closest_contact_pad_button": [
+              0.17520228028297424,
+              -0.3937031030654907,
+              0.7687793970108032
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012278097337266036,
+              0.021205029287971633
+            ]
+          },
+          "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": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35ced8f21e2c7a981151f2d1719056f933dd5b3a00fbab33d251dbac9b9fb6b3",
+    "visual_seed": 3333531196719383741,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b749b2345cc613a5293f846a068d7a3293a627f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_15_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3803824224881393,
+              0.21094668481483467,
+              1.163773605699761
+            ],
+            "current_z": 1.163773605699761,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3026671572896398,
+            "gripper_z": 1.1529663115648947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.374863776254442,
+              0.20577994948245018,
+              1.1529663115648947
+            ],
+            "object_minus_gripper": [
+              0.0055186462336973,
+              0.005166735332384487,
+              0.010807294134866252
+            ],
+            "object_to_gripper_xy": 0.007559802262467691,
+            "object_to_gripper_z": 0.010807294134866252,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3803824224881393,
+              0.18641847275262147,
+              1.163773605699761
+            ],
+            "finger_b": [
+              0.36910119224893684,
+              0.21094668481483467,
+              1.163773605699761
+            ],
+            "finger_midpoint": [
+              0.37474180736853807,
+              0.19868257878372808,
+              1.163773605699761
+            ],
+            "object_minus_finger_midpoint": [
+              0.005640615119601233,
+              0.012264106031106586,
+              0.0
+            ],
+            "finger_gap": 0.026998135911184634,
+            "fingertip_max_gap": 0.09067428735338498,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013499067955592303,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163773605699761,
+            "object_top_z": 1.2136941627198496,
+            "finger_top_clearance": 0.049920557020088685,
+            "fingertip_min_top_clearance": 0.014976167106026604,
+            "object_projection_between_fingers": 0.8253995466065631,
+            "object_to_finger_line_xy": 0.01024916714769101,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783714367669249,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5426204043994708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3313381303019747,
+              -0.33990968716253367,
+              0.8515395716613378
+            ],
+            "target_position": [
+              0.32234596950428185,
+              -0.34192902295117295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00921610941986059,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18607221562942203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395716613378,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751609224703819,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579953675519668,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15511122118732898,
+            "release_required_pad_clearance": 0.05289976837759834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8392955211561,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008100688457489014,
+            "max_z_decrease": 0.008100688457489014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505565200962908,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008100688457489014,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021190420082595394,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008100688457489014,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008100706165255414,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17804589867591852,
+              -0.39819046854972834,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17804589867591852,
+              -0.39819046854972834,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17953514187913985,
+              -0.39952520801862734,
+              0.8037065773707283
+            ],
+            "closest_button": [
+              0.17805510759353632,
+              -0.3981762528419494,
+              0.7687081694602966
+            ],
+            "closest_ee_minus_button": [
+              0.001480034285603532,
+              -0.001348955176677935,
+              0.03499840791043163
+            ],
+            "button_min_z_position": [
+              0.17805510759353632,
+              -0.3981762528419494,
+              0.7687081694602966
+            ],
+            "min_active_finger_to_button": 0.14425687530212833,
+            "closest_active_finger": [
+              0.03869323432445526,
+              -0.38430267572402954,
+              0.8075747489929199
+            ],
+            "closest_active_finger_button": [
+              0.1780546456575393,
+              -0.3981978297233581,
+              0.7730006575584412
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13936141133308405,
+              0.013895153999328558,
+              0.03457409143447876
+            ],
+            "min_contact_pad_to_button": 0.021190420082595394,
+            "closest_contact_pad": [
+              0.17805510759353632,
+              -0.40062974582748107,
+              0.789756073760887
+            ],
+            "closest_contact_pad_button": [
+              0.17805510759353632,
+              -0.3981762528419494,
+              0.7687081694602966
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002453492985531658,
+              0.021047904300590337
+            ]
+          },
+          "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": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31b984590c6bf4ae7b5bbfe2a028caf609ec8316034a78f94bb84e81aa1f3575",
+    "visual_seed": 4008949715206438218,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd7a5094d4dc6daa901329f8417ea3532621248
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_16_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3833286754440569,
+              0.21535329520356855,
+              1.1659487963903388
+            ],
+            "current_z": 1.1659487963903388,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3048422883755729,
+            "gripper_z": 1.1550866195926388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3779949845947722,
+              0.21034972306063135,
+              1.1550866195926388
+            ],
+            "object_minus_gripper": [
+              0.0053336908492847,
+              0.0050035721429372015,
+              0.010862176797699963
+            ],
+            "object_to_gripper_xy": 0.007313275071082759,
+            "object_to_gripper_z": 0.010862176797699963,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3833286754440569,
+              0.19090248581244634,
+              1.1659487963903388
+            ],
+            "finger_b": [
+              0.3723594294637771,
+              0.21535329520356855,
+              1.1659487963903388
+            ],
+            "finger_midpoint": [
+              0.377844052453917,
+              0.20312789050800745,
+              1.1659487963903388
+            ],
+            "object_minus_finger_midpoint": [
+              0.005484622990139909,
+              0.012225404695561104,
+              0.0
+            ],
+            "finger_gap": 0.0267986275256192,
+            "fingertip_max_gap": 0.09099664038883279,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0133993137628096,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659487963903388,
+            "object_top_z": 1.2158591463310884,
+            "finger_top_clearance": 0.04991034994074961,
+            "fingertip_min_top_clearance": 0.014973104982224882,
+            "object_projection_between_fingers": 0.832456167353798,
+            "object_to_finger_line_xy": 0.0100082342788545,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479983201944164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8060228474210948,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 378,
+            "max_stable_success_frames": 378,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3349046309521864,
+              -0.33481952000104964,
+              0.8515395668526883
+            ],
+            "target_position": [
+              0.327087730612611,
+              -0.33663240754844437,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008024368646713178,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18408388562831252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395668526883,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755152321918168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678700648250275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245490145302742,
+            "release_required_pad_clearance": 0.053393503241251375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8022756066422205,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007808029651641846,
+            "max_z_decrease": 0.007808029651641846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500725257982166,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007808029651641846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021249665824484468,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007808029651641846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007808050699360051,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18278765678405753,
+              -0.39289388060569763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18278765678405753,
+              -0.39289388060569763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1835838811565212,
+              -0.39242576570931414,
+              0.8039954850420231
+            ],
+            "closest_button": [
+              0.18276953697204582,
+              -0.3928932845592499,
+              0.7690008282661438
+            ],
+            "closest_ee_minus_button": [
+              0.000814344184475374,
+              0.000467518849935733,
+              0.03499465677587932
+            ],
+            "button_min_z_position": [
+              0.18276953697204582,
+              -0.3928932845592499,
+              0.7690008282661438
+            ],
+            "min_active_finger_to_button": 0.1450857487575331,
+            "closest_active_finger": [
+              0.05569589138031006,
+              -0.45336204767227173,
+              0.8084318041801453
+            ],
+            "closest_active_finger_button": [
+              0.1828000843524932,
+              -0.39290106296539307,
+              0.7732342481613159
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12710419297218314,
+              -0.06046098470687866,
+              0.035197556018829346
+            ],
+            "min_contact_pad_to_button": 0.021249665824484468,
+            "closest_contact_pad": [
+              0.18276953697204582,
+              -0.39381655053365616,
+              0.7902304273578075
+            ],
+            "closest_contact_pad_button": [
+              0.18276953697204582,
+              -0.3928932845592499,
+              0.7690008282661438
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009232659744062843,
+              0.021229599091663665
+            ]
+          },
+          "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": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "834d0876bc7b4bbdbb7812226be388d9d5a5592a1123b62d1ebfb65a6b7036e5",
+    "visual_seed": 4218767013426054874,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f5836c07c0da81812e908494118adfb98df401
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_17_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38633677906821207,
+              0.21981292313662137,
+              1.164007243680349
+            ],
+            "current_z": 1.164007243680349,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30290079527022784,
+            "gripper_z": 1.1531527380473188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38135589450904317,
+              0.21479181645123038,
+              1.1531527380473188
+            ],
+            "object_minus_gripper": [
+              0.004980884559168897,
+              0.005021106685390991,
+              0.010854505633030254
+            ],
+            "object_to_gripper_xy": 0.007072533021332968,
+            "object_to_gripper_z": 0.010854505633030254,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38633677906821207,
+              0.19595835381155452,
+              1.164007243680349
+            ],
+            "finger_b": [
+              0.37489217523229634,
+              0.21981292313662137,
+              1.164007243680349
+            ],
+            "finger_midpoint": [
+              0.3806144771502542,
+              0.20788563847408795,
+              1.164007243680349
+            ],
+            "object_minus_finger_midpoint": [
+              0.005722301917957862,
+              0.011927284662533427,
+              0.0
+            ],
+            "finger_gap": 0.02645788038837347,
+            "fingertip_max_gap": 0.09050499822517502,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013228940194186734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164007243680349,
+            "object_top_z": 1.2138826920942842,
+            "finger_top_clearance": 0.04987544841393521,
+            "fingertip_min_top_clearance": 0.014962634524180563,
+            "object_projection_between_fingers": 0.8128923991554737,
+            "object_to_finger_line_xy": 0.010318517265719671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775249911258751,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5198549943473585,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3312106335354853,
+              -0.33283684679131975,
+              0.8515395552058825
+            ],
+            "target_position": [
+              0.3215220502595871,
+              -0.3352035426878196,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009973459548247235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18529355448262794,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395552058825,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521182334137304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646499824017422,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543843281385931,
+            "release_required_pad_clearance": 0.05323249912008711,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4861896362155416,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008161604404449463,
+            "max_z_decrease": 0.008161604404449463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035052337681547516,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008161604404449463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02109873095258684,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008161604404449463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008161620014543266,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1772219836711883,
+              -0.3914650082588195,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1772219836711883,
+              -0.3914650082588195,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17884689180110935,
+              -0.3922413804615984,
+              0.8036532095912587
+            ],
+            "closest_button": [
+              0.1772273033857345,
+              -0.3914499580860137,
+              0.7686472535133362
+            ],
+            "closest_ee_minus_button": [
+              0.0016195884153748508,
+              -0.0007914223755847161,
+              0.03500595607792256
+            ],
+            "button_min_z_position": [
+              0.1772273033857345,
+              -0.3914499580860137,
+              0.7686472535133362
+            ],
+            "min_active_finger_to_button": 0.14415500233130774,
+            "closest_active_finger": [
+              0.03791561722755432,
+              -0.37792646884918213,
+              0.8094295859336853
+            ],
+            "closest_active_finger_button": [
+              0.17722621560096738,
+              -0.39147064089775074,
+              0.7749364376068115
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13931059837341306,
+              0.013544172048568615,
+              0.03449314832687378
+            ],
+            "min_contact_pad_to_button": 0.02109873095258684,
+            "closest_contact_pad": [
+              0.1772273033857345,
+              -0.39326030428340797,
+              0.789668173913148
+            ],
+            "closest_contact_pad_button": [
+              0.1772273033857345,
+              -0.3914499580860137,
+              0.7686472535133362
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018103461973942858,
+              0.02102092039981185
+            ]
+          },
+          "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": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b91746cf34f40bd0620f572076d8f67a9cc9c23591b0d0f222646284aa3a9d02",
+    "visual_seed": 4191986101540955436,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7acf492363f3dc199884e3917b3d0411a2febf92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_18_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38538666637439434,
+              0.21687485220040062,
+              1.1635010348087405
+            ],
+            "current_z": 1.1635010348087405,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3023945863986194,
+            "gripper_z": 1.152644485586764,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38010238236358995,
+              0.2118882419183898,
+              1.152644485586764
+            ],
+            "object_minus_gripper": [
+              0.005284284010804385,
+              0.004986610282010806,
+              0.010856549221976541
+            ],
+            "object_to_gripper_xy": 0.007265668559155364,
+            "object_to_gripper_z": 0.010856549221976541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38538666637439434,
+              0.1926122296075063,
+              1.1635010348087405
+            ],
+            "finger_b": [
+              0.37424752858596994,
+              0.21687485220040062,
+              1.1635010348087405
+            ],
+            "finger_midpoint": [
+              0.3798170974801821,
+              0.20474354090395347,
+              1.1635010348087405
+            ],
+            "object_minus_finger_midpoint": [
+              0.005569568894212229,
+              0.01213131129644715,
+              0.0
+            ],
+            "finger_gap": 0.02669747639299885,
+            "fingertip_max_gap": 0.09066054840815216,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013348738196499423,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635010348087405,
+            "object_top_z": 1.213379104069219,
+            "finger_top_clearance": 0.04987806926047855,
+            "fingertip_min_top_clearance": 0.014963420778143565,
+            "object_projection_between_fingers": 0.825914447619229,
+            "object_to_finger_line_xy": 0.010123230083337119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783027420407608,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5925842825213163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3324690371570745,
+              -0.3333907138458019,
+              0.8515395603359789
+            ],
+            "target_position": [
+              0.32320134224422736,
+              -0.3356508666564992,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00953931128149802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18462178202339888,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395603359789,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553245160856985,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531497980034596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15293234980803988,
+            "release_required_pad_clearance": 0.05265748990017298,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37325262622378724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00802922248840332,
+            "max_z_decrease": 0.00802922248840332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035089624216456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00802922248840332,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113637901076525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00802922248840332,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008029245565117688,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17890127003192896,
+              -0.3919123113155365,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17890127003192896,
+              -0.3919123113155365,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17715169976755069,
+              -0.3913214247017389,
+              0.8073019024434052
+            ],
+            "closest_button": [
+              0.1788893342018127,
+              -0.3919157385826111,
+              0.7722603678703308
+            ],
+            "closest_ee_minus_button": [
+              -0.0017376344342620031,
+              0.000594313880872166,
+              0.03504153457307435
+            ],
+            "button_min_z_position": [
+              0.1788823008537292,
+              -0.39191558957099915,
+              0.7687796354293823
+            ],
+            "min_active_finger_to_button": 0.1474652197763894,
+            "closest_active_finger": [
+              0.049807898700237274,
+              -0.4542611241340637,
+              0.8108252286911011
+            ],
+            "closest_active_finger_button": [
+              0.17890439927577967,
+              -0.39191439747810364,
+              0.7762858271598816
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1290965005755424,
+              -0.06234672665596008,
+              0.03453940153121948
+            ],
+            "min_contact_pad_to_button": 0.02113637901076525,
+            "closest_contact_pad": [
+              0.1788823008537292,
+              -0.3925724267185291,
+              0.7899058059921782
+            ],
+            "closest_contact_pad_button": [
+              0.1788823008537292,
+              -0.39191558957099915,
+              0.7687796354293823
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006568371475299539,
+              0.021126170562795865
+            ]
+          },
+          "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": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4307e3e015a31876d0dd665e2fe1a9815159b1c39ba26946e1c84e82b67662be",
+    "visual_seed": 5588487586586027168,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5883cd5f0e30ad38c278d8ac65326f2c53051c61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_19_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37949221296369495,
+              0.21058352632550212,
+              1.164339222291154
+            ],
+            "current_z": 1.164339222291154,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3032325354624539,
+            "gripper_z": 1.1535397416266782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37443681803823425,
+              0.20558199095200705,
+              1.1535397416266782
+            ],
+            "object_minus_gripper": [
+              0.005055394925460699,
+              0.00500153537349507,
+              0.01079948066447578
+            ],
+            "object_to_gripper_xy": 0.007111425591588247,
+            "object_to_gripper_z": 0.01079948066447578,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37949221296369495,
+              0.1866000861891644,
+              1.164339222291154
+            ],
+            "finger_b": [
+              0.36817161200292847,
+              0.21058352632550212,
+              1.164339222291154
+            ],
+            "finger_midpoint": [
+              0.3738319124833117,
+              0.19859180625733325,
+              1.164339222291154
+            ],
+            "object_minus_finger_midpoint": [
+              0.00566030048038324,
+              0.01199172006816887,
+              0.0
+            ],
+            "finger_gap": 0.02652096165085651,
+            "fingertip_max_gap": 0.09069856704765492,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013260480825428267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164339222291154,
+            "object_top_z": 1.2142193961200638,
+            "finger_top_clearance": 0.04988017382890986,
+            "fingertip_min_top_clearance": 0.014964052148672989,
+            "object_projection_between_fingers": 0.8177949417494247,
+            "object_to_finger_line_xy": 0.010237447609338184,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784928352382746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6062431391229804,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32790514774294943,
+              -0.3410591387740931,
+              0.8515396018715282
+            ],
+            "target_position": [
+              0.3206012380823388,
+              -0.34236283707665327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074193480572392195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1815949254694376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396018715282,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529868054041541,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498265832366884,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503533671641162,
+            "release_required_pad_clearance": 0.052491329161834424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595286147443113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008163034915924072,
+            "max_z_decrease": 0.008163034915924072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035077115062125686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008163034915924072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020919286225952516,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008163034915924072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816310559208907,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17630116641521448,
+              -0.398624300956726,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17630116641521448,
+              -0.398624300956726,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17443906779347448,
+              -0.3967114624909485,
+              0.8036201290053293
+            ],
+            "closest_button": [
+              0.1763330847024917,
+              -0.3986126780509948,
+              0.7686458230018616
+            ],
+            "closest_ee_minus_button": [
+              -0.001894016909017221,
+              0.0019012155600462988,
+              0.03497430600346774
+            ],
+            "button_min_z_position": [
+              0.1763330847024917,
+              -0.3986126780509948,
+              0.7686458230018616
+            ],
+            "min_active_finger_to_button": 0.1465308693079849,
+            "closest_active_finger": [
+              0.048350535333156586,
+              -0.46125632524490356,
+              0.8109747171401978
+            ],
+            "closest_active_finger_button": [
+              0.17630577087402338,
+              -0.39862823486328125,
+              0.7766749262809753
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279552355408668,
+              -0.06262809038162231,
+              0.03429979085922241
+            ],
+            "min_contact_pad_to_button": 0.020919286225952516,
+            "closest_contact_pad": [
+              0.1763330847024917,
+              -0.3986126780509948,
+              0.7895651092278141
+            ],
+            "closest_contact_pad_button": [
+              0.1763330847024917,
+              -0.3986126780509948,
+              0.7686458230018616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020919286225952516
+            ]
+          },
+          "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": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2c1ead9c0ada5571d140da3ebf9ad0b9a578514848078b385bae19e7f5fc086",
+    "visual_seed": 7576636013548961688,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b3d179e94ee43f1d2cabe491a40cc0ca66e70c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_1_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3833901731975194,
+              0.21598432256943492,
+              1.1647947001908907
+            ],
+            "current_z": 1.1647947001908907,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30368819217612475,
+            "gripper_z": 1.1539389058191536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37803558524130865,
+              0.2109404320265428,
+              1.1539389058191536
+            ],
+            "object_minus_gripper": [
+              0.0053545879562107435,
+              0.0050438905428921155,
+              0.010855794371737115
+            ],
+            "object_to_gripper_xy": 0.007356116094072582,
+            "object_to_gripper_z": 0.010855794371737115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3833901731975194,
+              0.19153776004851408,
+              1.1647947001908907
+            ],
+            "finger_b": [
+              0.37233364716305206,
+              0.21598432256943492,
+              1.1647947001908907
+            ],
+            "finger_midpoint": [
+              0.3778619101802857,
+              0.2037610413089745,
+              1.1647947001908907
+            ],
+            "object_minus_finger_midpoint": [
+              0.005528263017233692,
+              0.012223281260460434,
+              0.0
+            ],
+            "finger_gap": 0.02683060168986423,
+            "fingertip_max_gap": 0.09109231957394989,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341530084493214,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647947001908907,
+            "object_top_z": 1.214729480417187,
+            "finger_top_clearance": 0.04993478022629638,
+            "fingertip_min_top_clearance": 0.014980434067888914,
+            "object_projection_between_fingers": 0.8301847997257962,
+            "object_to_finger_line_xy": 0.010074095918165816,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804615978697495,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8051478419519261,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3326479677413107,
+              -0.34016235911477744,
+              0.851539666798113
+            ],
+            "target_position": [
+              0.3248007115758791,
+              -0.3419020157678915,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008037775475629361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18512392203662298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539666798113,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758302161684996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876935909394753,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15255087925212868,
+            "release_required_pad_clearance": 0.053846795469737654,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.70294149964427,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008134663105010986,
+            "max_z_decrease": 0.008134663105010986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503956491843175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134663105010986,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021379463137988167,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008134663105010986,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008134700274917136,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18050064146518702,
+              -0.3981634676456451,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18050064146518702,
+              -0.3981634676456451,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18015489091365625,
+              -0.3999528702586729,
+              0.8037368094549254
+            ],
+            "closest_button": [
+              0.1804822832345962,
+              -0.3981593549251556,
+              0.768744707107544
+            ],
+            "closest_ee_minus_button": [
+              -0.00032739232093995096,
+              -0.0017935153335172926,
+              0.03499210234738148
+            ],
+            "button_min_z_position": [
+              0.18047684431076047,
+              -0.39815726876258845,
+              0.7686741948127747
+            ],
+            "min_active_finger_to_button": 0.1460441856076172,
+            "closest_active_finger": [
+              0.03951680660247803,
+              -0.3827802240848541,
+              0.8078317046165466
+            ],
+            "closest_active_finger_button": [
+              0.18051047623157496,
+              -0.3981678187847137,
+              0.7730048298835754
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14099366962909693,
+              0.015387594699859564,
+              0.03482687473297119
+            ],
+            "min_contact_pad_to_button": 0.021379463137988167,
+            "closest_contact_pad": [
+              0.18047684431076047,
+              -0.4012261316437034,
+              0.7898322553260994
+            ],
+            "closest_contact_pad_button": [
+              0.18047684431076047,
+              -0.39815726876258845,
+              0.7686741948127747
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030688628811149643,
+              0.021158060513324695
+            ]
+          },
+          "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": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "313c01f5e0a78097bac77f6a8a131c0c77e77609f87315cb8a06eeaef982b83d",
+    "visual_seed": 8529082063874612636,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71de27249a0108fb5fb281c7170325d47960e2aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_20_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3768683308558052,
+              0.20974095545264396,
+              1.1658123249859167
+            ],
+            "current_z": 1.1658123249859167,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3047056381572164,
+            "gripper_z": 1.1549749933235416,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3716115317972031,
+              0.2047761923656708,
+              1.1549749933235416
+            ],
+            "object_minus_gripper": [
+              0.005256799058602102,
+              0.004964763086973162,
+              0.010837331662375105
+            ],
+            "object_to_gripper_xy": 0.007230685227023178,
+            "object_to_gripper_z": 0.010837331662375105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3768683308558052,
+              0.18533365822836023,
+              1.1658123249859167
+            ],
+            "finger_b": [
+              0.36596743270469184,
+              0.20974095545264396,
+              1.1658123249859167
+            ],
+            "finger_midpoint": [
+              0.3714178817802485,
+              0.19753730684050208,
+              1.1658123249859167
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450449075556696,
+              0.012203648612141876,
+              0.0
+            ],
+            "finger_gap": 0.02673098835238746,
+            "fingertip_max_gap": 0.09097158610765224,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013365494176193756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658123249859167,
+            "object_top_z": 1.2157221796418056,
+            "finger_top_clearance": 0.04990985465588893,
+            "fingertip_min_top_clearance": 0.014972956396766678,
+            "object_projection_between_fingers": 0.8336991264066451,
+            "object_to_finger_line_xy": 0.009953296813363237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798579305382612,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.776708619220762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.332370056397967,
+              -0.3347571721754685,
+              0.8515395783165907
+            ],
+            "target_position": [
+              0.32472767467194685,
+              -0.33620048675780034,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007777477446433299,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18198933369048792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395783165907,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519691709720398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651421872960667,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15103783198296583,
+            "release_required_pad_clearance": 0.05325710936480334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5343867530617086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008134603500366211,
+            "max_z_decrease": 0.008134603500366211,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504790715326522,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134603500366211,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021057791236409544,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008134603500366211,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813461864932279,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18042759597301478,
+              -0.39246195554733276,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18042759597301478,
+              -0.39246195554733276,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17827979689682236,
+              -0.39218629626715545,
+              0.8036545784264937
+            ],
+            "closest_button": [
+              0.18043908476829523,
+              -0.3924512565135955,
+              0.7686742544174194
+            ],
+            "closest_ee_minus_button": [
+              -0.002159287871472876,
+              0.0002649602464400713,
+              0.03498032400907425
+            ],
+            "button_min_z_position": [
+              0.18043908476829523,
+              -0.3924512565135955,
+              0.7686742544174194
+            ],
+            "min_active_finger_to_button": 0.1475712463737596,
+            "closest_active_finger": [
+              0.051657699048519135,
+              -0.4557429254055023,
+              0.8106356859207153
+            ],
+            "closest_active_finger_button": [
+              0.18043056130409235,
+              -0.39246562123298645,
+              0.7761276364326477
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12877286225557322,
+              -0.06327730417251587,
+              0.03450804948806763
+            ],
+            "min_contact_pad_to_button": 0.021057791236409544,
+            "closest_contact_pad": [
+              0.18043908476829523,
+              -0.3933083981069423,
+              0.7897145937693681
+            ],
+            "closest_contact_pad_button": [
+              0.18043908476829523,
+              -0.3924512565135955,
+              0.7686742544174194
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008571415933467663,
+              0.02104033935194871
+            ]
+          },
+          "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": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ecec6f646b3a95cf5d492e5cef3b2379e1d23a2671b35491ea2e3910d179a030",
+    "visual_seed": 942125545757622872,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71034751b538711e3c5f1dde820c763ccf2ee0c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_21_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3840706000402734,
+              0.21806610265680304,
+              1.163036877488632
+            ],
+            "current_z": 1.163036877488632,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3019302502645764,
+            "gripper_z": 1.1522013219144016,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3788660483071513,
+              0.21299887148839142,
+              1.1522013219144016
+            ],
+            "object_minus_gripper": [
+              0.005204551733122065,
+              0.005067231168411623,
+              0.010835555574230327
+            ],
+            "object_to_gripper_xy": 0.0072638963688137865,
+            "object_to_gripper_z": 0.010835555574230327,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3840706000402734,
+              0.19400746960460172,
+              1.163036877488632
+            ],
+            "finger_b": [
+              0.3726212878369572,
+              0.21806610265680304,
+              1.163036877488632
+            ],
+            "finger_midpoint": [
+              0.3783459439386153,
+              0.20603678613070237,
+              1.163036877488632
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057246561016580655,
+              0.012029316526100675,
+              0.0
+            ],
+            "finger_gap": 0.02664403449685274,
+            "fingertip_max_gap": 0.09067246579755003,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332201724842637,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163036877488632,
+            "object_top_z": 1.2129204115830037,
+            "finger_top_clearance": 0.04988353409437174,
+            "fingertip_min_top_clearance": 0.014965060228311521,
+            "object_projection_between_fingers": 0.8153459567944064,
+            "object_to_finger_line_xy": 0.010338329243351357,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783623289877502,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5882823468025052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3318459778484757,
+              -0.3385481429377054,
+              0.8515395587523696
+            ],
+            "target_position": [
+              0.32240072182451773,
+              -0.3409854761253536,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009754663214367042,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1877221265667811,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395587523696,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590618594806699,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596983475400403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15498752716019204,
+            "release_required_pad_clearance": 0.05298491737700202,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0040422786481351,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007810115814208984,
+            "max_z_decrease": 0.007810115814208984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035058819690062686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007810115814208984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021151765333911703,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007810115814208984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007810133646536801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17810064554214472,
+              -0.3972469270229339,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17810064554214472,
+              -0.3972469270229339,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17711876679343236,
+              -0.39627306573831483,
+              0.8077186860497004
+            ],
+            "closest_button": [
+              0.17809034883975977,
+              -0.3972502648830413,
+              0.7726869583129883
+            ],
+            "closest_ee_minus_button": [
+              -0.0009715820463274127,
+              0.0009771991447264927,
+              0.03503172773671215
+            ],
+            "button_min_z_position": [
+              0.17808426916599268,
+              -0.3972501456737518,
+              0.7689987421035767
+            ],
+            "min_active_finger_to_button": 0.14670274367285355,
+            "closest_active_finger": [
+              0.049226999282836914,
+              -0.4581625759601593,
+              0.8089463114738464
+            ],
+            "closest_active_finger_button": [
+              0.17810876667499537,
+              -0.3972521722316742,
+              0.7742893099784851
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12888176739215845,
+              -0.06091040372848511,
+              0.03465700149536133
+            ],
+            "min_contact_pad_to_button": 0.021151765333911703,
+            "closest_contact_pad": [
+              0.17808426916599268,
+              -0.39761260738325144,
+              0.7901474015941925
+            ],
+            "closest_contact_pad_button": [
+              0.17808426916599268,
+              -0.3972501456737518,
+              0.7689987421035767
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00036246170949966183,
+              0.02114865949061584
+            ]
+          },
+          "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": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27c3c0a662fa4acf805a993c436e194d244a90099c2ac19906f02c34691d395b",
+    "visual_seed": 2996918337417304472,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..206c1b9033da8d0d304e77cf1e6b83351eb0f9aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_22_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38154096472161075,
+              0.21852883908143436,
+              1.1650598094111013
+            ],
+            "current_z": 1.1650598094111013,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3039534206056249,
+            "gripper_z": 1.1541579271384212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3764627527139359,
+              0.21369212572290852,
+              1.1541579271384212
+            ],
+            "object_minus_gripper": [
+              0.005078212007674832,
+              0.00483671335852584,
+              0.010901882272680075
+            ],
+            "object_to_gripper_xy": 0.007012990325633934,
+            "object_to_gripper_z": 0.010901882272680075,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38154096472161075,
+              0.19423557153113402,
+              1.1650598094111013
+            ],
+            "finger_b": [
+              0.37084964786663105,
+              0.21852883908143436,
+              1.1650598094111013
+            ],
+            "finger_midpoint": [
+              0.3761953062941209,
+              0.2063822053062842,
+              1.1650598094111013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005345658427489852,
+              0.012146633775150156,
+              0.0
+            ],
+            "finger_gap": 0.026541799192293814,
+            "fingertip_max_gap": 0.09105164683598652,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013270899596146895,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650598094111013,
+            "object_top_z": 1.2150199832337705,
+            "finger_top_clearance": 0.04996017382266915,
+            "fingertip_min_top_clearance": 0.014988052146800745,
+            "object_projection_between_fingers": 0.8377436570345463,
+            "object_to_finger_line_xy": 0.00978558457704207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802582341799326,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.856002785892765,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3375068455053182,
+              -0.3348520373184851,
+              0.8515396020510533
+            ],
+            "target_position": [
+              0.3289255993376189,
+              -0.3368052031661758,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008800718301322848,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867528878379911,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396020510533,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518684434661305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855390928134152,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15581287945594258,
+            "release_required_pad_clearance": 0.0527695464067076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5881719192593816,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007973253726959229,
+            "max_z_decrease": 0.007973253726959229,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035070073566673826,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007973253726959229,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02115874107099036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007973253726959229,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007973272164227234,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18462552130222315,
+              -0.39306667447090143,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18462552130222315,
+              -0.39306667447090143,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18383890191428207,
+              -0.39194238426693884,
+              0.8075680888228931
+            ],
+            "closest_button": [
+              0.18461459875106806,
+              -0.3930694460868835,
+              0.7725247144699097
+            ],
+            "closest_ee_minus_button": [
+              -0.000775696836785994,
+              0.0011270618199446525,
+              0.035043374352983436
+            ],
+            "button_min_z_position": [
+              0.1846086680889129,
+              -0.3930698335170746,
+              0.7688356041908264
+            ],
+            "min_active_finger_to_button": 0.1464276998711253,
+            "closest_active_finger": [
+              0.057112954556941986,
+              -0.4561639726161957,
+              0.8105868697166443
+            ],
+            "closest_active_finger_button": [
+              0.18463182449340815,
+              -0.39307090640068054,
+              0.7759563326835632
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12751886993646616,
+              -0.06309306621551514,
+              0.034630537033081055
+            ],
+            "min_contact_pad_to_button": 0.02115874107099036,
+            "closest_contact_pad": [
+              0.1846086680889129,
+              -0.3930698335170746,
+              0.7899943452618168
+            ],
+            "closest_contact_pad_button": [
+              0.1846086680889129,
+              -0.3930698335170746,
+              0.7688356041908264
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02115874107099036
+            ]
+          },
+          "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": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba598b69c0a2c8dbd55b3963e935b3e8d189f7599c110366a81b6b8aac863cd6",
+    "visual_seed": 6171678367496343379,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc14a82a072448cb9dc77292512709a585ce209
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_23_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38449169338423794,
+              0.21411454759241602,
+              1.1635715890313834
+            ],
+            "current_z": 1.1635715890313834,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30246514062126195,
+            "gripper_z": 1.152759739973564,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37937155796897054,
+              0.20904049126643506,
+              1.152759739973564
+            ],
+            "object_minus_gripper": [
+              0.005120135415267402,
+              0.005074056325980958,
+              0.01081184905781929
+            ],
+            "object_to_gripper_xy": 0.007208455747932623,
+            "object_to_gripper_z": 0.01081184905781929,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38449169338423794,
+              0.19019077069922583,
+              1.1635715890313834
+            ],
+            "finger_b": [
+              0.37293689707443806,
+              0.21411454759241602,
+              1.1635715890313834
+            ],
+            "finger_midpoint": [
+              0.37871429522933797,
+              0.20215265914582092,
+              1.1635715890313834
+            ],
+            "object_minus_finger_midpoint": [
+              0.005777398154899971,
+              0.011961888446595098,
+              0.0
+            ],
+            "finger_gap": 0.02656803377361799,
+            "fingertip_max_gap": 0.09053205613770746,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013284016886809007,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635715890313834,
+            "object_top_z": 1.2133611553950678,
+            "finger_top_clearance": 0.04978956636368448,
+            "fingertip_min_top_clearance": 0.014936869909105376,
+            "object_projection_between_fingers": 0.8108502555979676,
+            "object_to_finger_line_xy": 0.010404773319597665,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776602806885373,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5919031835297902,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3304666694745956,
+              -0.33373729235157357,
+              0.8515396120640264
+            ],
+            "target_position": [
+              0.3218833678498287,
+              -0.3355883370361931,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008780628292222845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861406389282507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396120640264,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524152505825592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515871045867245,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15499358981533534,
+            "release_required_pad_clearance": 0.052579355229336225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2238116691184307,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008091330528259277,
+            "max_z_decrease": 0.008091330528259277,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501797656439387,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091330528259277,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021124150514348055,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008091330528259277,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008091338875388767,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17758329212665563,
+              -0.3918497860431671,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17758329212665563,
+              -0.3918497860431671,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17846481815837628,
+              -0.39154908498475344,
+              0.8037233563983004
+            ],
+            "closest_button": [
+              0.17758962512016296,
+              -0.39184004068374634,
+              0.7687175273895264
+            ],
+            "closest_ee_minus_button": [
+              0.0008751930382133177,
+              0.00029095569899290075,
+              0.035005829008774025
+            ],
+            "button_min_z_position": [
+              0.17758962512016296,
+              -0.39184004068374634,
+              0.7687175273895264
+            ],
+            "min_active_finger_to_button": 0.14495582005864782,
+            "closest_active_finger": [
+              0.05154642462730408,
+              -0.45452210307121277,
+              0.8114312887191772
+            ],
+            "closest_active_finger_button": [
+              0.17758575081825256,
+              -0.3918518126010895,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260393261909485,
+              -0.06267029047012329,
+              0.0346224308013916
+            ],
+            "min_contact_pad_to_button": 0.021124150514348055,
+            "closest_contact_pad": [
+              0.17758962512016296,
+              -0.3927291492360134,
+              0.7898229584662686
+            ],
+            "closest_contact_pad_button": [
+              0.17758962512016296,
+              -0.39184004068374634,
+              0.7687175273895264
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008891085522670372,
+              0.02110543107674223
+            ]
+          },
+          "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": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4603a2c63e62f190bf2e7f9c117f3b7f9207f50a8a8bb03f521188bad2c9f51c",
+    "visual_seed": 5860366355010961660,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd5833152555f721cd46e11215009321cf24c17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_24_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3861954884544404,
+              0.21449767470422995,
+              1.1625151758142387
+            ],
+            "current_z": 1.1625151758142387,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.30140836977624885,
+            "gripper_z": 1.1516539031018453,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38101206687120004,
+              0.2095901703254854,
+              1.1516539031018453
+            ],
+            "object_minus_gripper": [
+              0.005183421583240366,
+              0.004907504378744543,
+              0.010861272712393344
+            ],
+            "object_to_gripper_xy": 0.007138029037276251,
+            "object_to_gripper_z": 0.010861272712393344,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3861954884544404,
+              0.19025511327434738,
+              1.1625151758142387
+            ],
+            "finger_b": [
+              0.3752389309409941,
+              0.21449767470422995,
+              1.1625151758142387
+            ],
+            "finger_midpoint": [
+              0.3807172096977173,
+              0.20237639398928867,
+              1.1625151758142387
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478278756723132,
+              0.012121280714941285,
+              0.0
+            ],
+            "finger_gap": 0.026603532420095777,
+            "fingertip_max_gap": 0.09097409693707267,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013301766210047876,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625151758142387,
+            "object_top_z": 1.2123687290547318,
+            "finger_top_clearance": 0.04985355324049312,
+            "fingertip_min_top_clearance": 0.014956065972147936,
+            "object_projection_between_fingers": 0.8303829001384441,
+            "object_to_finger_line_xy": 0.009984201134850917,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798704846853634,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8957835039994114,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3288304166521976,
+              -0.33156446628600356,
+              0.8515396087689853
+            ],
+            "target_position": [
+              0.31958932410517393,
+              -0.33355752022059426,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009453573686645893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18648337519122501,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396087689853,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535910897058842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632310563976829,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155016533358691,
+            "release_required_pad_clearance": 0.05316155281988415,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3475322708897435,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007889628410339355,
+            "max_z_decrease": 0.007889628410339355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035148473017333925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007889628410339355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021204326385208007,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007889628410339355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007889653653780259,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17528924345970154,
+              -0.3898189663887024,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17528924345970154,
+              -0.3898189663887024,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1747009986563487,
+              -0.39129432302393086,
+              0.8061834997968553
+            ],
+            "closest_button": [
+              0.17527270317077637,
+              -0.38982036709785456,
+              0.7710705995559692
+            ],
+            "closest_ee_minus_button": [
+              -0.0005717045144276733,
+              -0.001473955926076298,
+              0.03511290024088609
+            ],
+            "button_min_z_position": [
+              0.17526935040950775,
+              -0.3898205757141113,
+              0.7689192295074463
+            ],
+            "min_active_finger_to_button": 0.14641243504162532,
+            "closest_active_finger": [
+              0.03347614407539368,
+              -0.37771689891815186,
+              0.8107838034629822
+            ],
+            "closest_active_finger_button": [
+              0.17529137432575226,
+              -0.3898214697837829,
+              0.7764542102813721
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181523025035858,
+              0.012104570865631048,
+              0.03432959318161011
+            ],
+            "min_contact_pad_to_button": 0.021204326385208007,
+            "closest_contact_pad": [
+              0.17526935040950775,
+              -0.3922791036167753,
+              0.7899805470826183
+            ],
+            "closest_contact_pad_button": [
+              0.17526935040950775,
+              -0.3898205757141113,
+              0.7689192295074463
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024585279026640428,
+              0.021061317575172045
+            ]
+          },
+          "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": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "30b0d0d5803b9d27e4e05b20c83b17b3fe71b94eda8f59b15411ff1d5476f55c",
+    "visual_seed": 8984964357056040885,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ee6a8bc9d9d65f8560e610915f65e71c408ba4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_25_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38007596395546295,
+              0.2128370974768528,
+              1.1661155241209955
+            ],
+            "current_z": 1.1661155241209955,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30500883729229533,
+            "gripper_z": 1.1553044240482677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37511809535536567,
+              0.20788539895951463,
+              1.1553044240482677
+            ],
+            "object_minus_gripper": [
+              0.004957868600097282,
+              0.004951698517338177,
+              0.010811100072727786
+            ],
+            "object_to_gripper_xy": 0.007007123465619803,
+            "object_to_gripper_z": 0.010811100072727786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38007596395546295,
+              0.18896640135347265,
+              1.1661155241209955
+            ],
+            "finger_b": [
+              0.3687726263086713,
+              0.2128370974768528,
+              1.1661155241209955
+            ],
+            "finger_midpoint": [
+              0.3744242951320671,
+              0.20090174941516273,
+              1.1661155241209955
+            ],
+            "object_minus_finger_midpoint": [
+              0.00565166882339585,
+              0.011935348061690082,
+              0.0
+            ],
+            "finger_gap": 0.026411656051299283,
+            "fingertip_max_gap": 0.09074890347686795,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013205828025649654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661155241209955,
+            "object_top_z": 1.215986907285587,
+            "finger_top_clearance": 0.04987138316459139,
+            "fingertip_min_top_clearance": 0.014961414949377416,
+            "object_projection_between_fingers": 0.8168435844543174,
+            "object_to_finger_line_xy": 0.010215888682726243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787445173843398,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.695256708197794,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33147754523349027,
+              -0.33877131151601136,
+              0.8515395620355467
+            ],
+            "target_position": [
+              0.32259617008951263,
+              -0.3409818362766434,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009152335448694562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848026625757975,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395620355467,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531253993390472,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596740358263842,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15356041491114025,
+            "release_required_pad_clearance": 0.05298370179131921,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.001700926269047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008220314979553223,
+            "max_z_decrease": 0.008220314979553223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035015147725546904,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008220314979553223,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020976412547756285,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008220314979553223,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00822036286661673,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17829608917236323,
+              -0.3972432911396026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17829608917236323,
+              -0.3972432911396026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17665267882829896,
+              -0.39723149369319416,
+              0.8036308179658115
+            ],
+            "closest_button": [
+              0.17831687629222864,
+              -0.39723080396652216,
+              0.7686552405357361
+            ],
+            "closest_ee_minus_button": [
+              -0.0016641974639296786,
+              -6.89726671998514e-07,
+              0.0349755774300754
+            ],
+            "button_min_z_position": [
+              0.17831982672214503,
+              -0.3972283303737639,
+              0.7685885429382324
+            ],
+            "min_active_finger_to_button": 0.14719610692264243,
+            "closest_active_finger": [
+              0.05049048364162445,
+              -0.461669385433197,
+              0.8109571933746338
+            ],
+            "closest_active_finger_button": [
+              0.17829987406730646,
+              -0.39724710583686823,
+              0.7765882611274719
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.127809390425682,
+              -0.06442227959632879,
+              0.034368932247161865
+            ],
+            "min_contact_pad_to_button": 0.020976412547756285,
+            "closest_contact_pad": [
+              0.17831982672214503,
+              -0.3982581726087751,
+              0.7895396600527124
+            ],
+            "closest_contact_pad_button": [
+              0.17831982672214503,
+              -0.3972283303737639,
+              0.7685885429382324
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010298422350111802,
+              0.020951117114479945
+            ]
+          },
+          "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": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be74a37162483a29602cb26b9eae64603f7e2a67fb1d59351ee423185e9091cc",
+    "visual_seed": 2028072536518905826,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..289ab57c34ddbbf508f0a4ed4248ff75774bb342
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_26_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3802978726543915,
+              0.21947799577975086,
+              1.1624335463555155
+            ],
+            "current_z": 1.1624335463555155,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3013270383407496,
+            "gripper_z": 1.1516171657450682,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37513044119463046,
+              0.21432855949660462,
+              1.1516171657450682
+            ],
+            "object_minus_gripper": [
+              0.005167431459761063,
+              0.005149436283146236,
+              0.010816380610447318
+            ],
+            "object_to_gripper_xy": 0.007295138238958276,
+            "object_to_gripper_z": 0.010816380610447318,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3802978726543915,
+              0.19553299749890504,
+              1.1624335463555155
+            ],
+            "finger_b": [
+              0.3686178775071205,
+              0.21947799577975086,
+              1.1624335463555155
+            ],
+            "finger_midpoint": [
+              0.374457875080756,
+              0.20750549663932794,
+              1.1624335463555155
+            ],
+            "object_minus_finger_midpoint": [
+              0.005839997573635514,
+              0.01197249914042292,
+              0.0
+            ],
+            "finger_gap": 0.026641794783947716,
+            "fingertip_max_gap": 0.09077227597823226,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332089739197387,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624335463555155,
+            "object_top_z": 1.2123466103138956,
+            "finger_top_clearance": 0.04991306395838002,
+            "fingertip_min_top_clearance": 0.014973919187513972,
+            "object_projection_between_fingers": 0.8077977943089949,
+            "object_to_finger_line_xy": 0.01049769604449487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788613798911613,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5703474464204328,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3374534947836473,
+              -0.3356062966042931,
+              0.8515395320645204
+            ],
+            "target_position": [
+              0.3278071642190308,
+              -0.33801605695791853,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00994276814190895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18808392430345744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395320645204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751441840148086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585116184182033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15730963695492664,
+            "release_required_pad_clearance": 0.05292558092091017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8891078717712495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007959723472595215,
+            "max_z_decrease": 0.007959723472595215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035043688085062044,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007959723472595215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021200815029371524,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007959723472595215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007959744017555018,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18350708484649653,
+              -0.3942775130271911,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18350708484649653,
+              -0.3942775130271911,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18196858309239283,
+              -0.3948896688372799,
+              0.8053034869374993
+            ],
+            "closest_button": [
+              0.18349084258079523,
+              -0.39428016543388367,
+              0.770298182964325
+            ],
+            "closest_ee_minus_button": [
+              -0.0015222594884023999,
+              -0.0006095034033962166,
+              0.03500530397317436
+            ],
+            "button_min_z_position": [
+              0.1834892779588699,
+              -0.39428067207336426,
+              0.7688491344451904
+            ],
+            "min_active_finger_to_button": 0.14744486066372242,
+            "closest_active_finger": [
+              0.041029930114746094,
+              -0.3790966868400574,
+              0.807871401309967
+            ],
+            "closest_active_finger_button": [
+              0.1835168600082397,
+              -0.3942843973636627,
+              0.7731324434280396
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1424869298934936,
+              0.015187710523605347,
+              0.03473895788192749
+            ],
+            "min_contact_pad_to_button": 0.021200815029371524,
+            "closest_contact_pad": [
+              0.1834892779588699,
+              -0.3960581416814269,
+              0.7899753068316413
+            ],
+            "closest_contact_pad_button": [
+              0.1834892779588699,
+              -0.39428067207336426,
+              0.7688491344451904
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017774696080626318,
+              0.02112617238645087
+            ]
+          },
+          "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": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b51a90814e1361891a6d95213940a07c84146374667d5c626476c0c3563c1cb0",
+    "visual_seed": 5289505459226156408,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc061bc9e66d161e94eb90f59e3aa18b8f0a128c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_27_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3850218897256025,
+              0.21564834822181905,
+              1.1661223352233545
+            ],
+            "current_z": 1.1661223352233545,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30501582720858844,
+            "gripper_z": 1.155245484664568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3796307579809741,
+              0.21063776747841778,
+              1.155245484664568
+            ],
+            "object_minus_gripper": [
+              0.005391131744628352,
+              0.005010580743401272,
+              0.010876850558786622
+            ],
+            "object_to_gripper_xy": 0.007360042178825008,
+            "object_to_gripper_z": 0.010876850558786622,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3850218897256025,
+              0.19113572581028487,
+              1.1661223352233545
+            ],
+            "finger_b": [
+              0.37407264510602795,
+              0.21564834822181905,
+              1.1661223352233545
+            ],
+            "finger_midpoint": [
+              0.37954726741581524,
+              0.20339203701605196,
+              1.1661223352233545
+            ],
+            "object_minus_finger_midpoint": [
+              0.005474622309787236,
+              0.01225631120576709,
+              0.0
+            ],
+            "finger_gap": 0.026846873472151825,
+            "fingertip_max_gap": 0.09091594512025206,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013423436736075902,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1661223352233545,
+            "object_top_z": 1.2160280396330734,
+            "finger_top_clearance": 0.049905704409718865,
+            "fingertip_min_top_clearance": 0.014971711322915658,
+            "object_projection_between_fingers": 0.8336660560944589,
+            "object_to_finger_line_xy": 0.009997242298234744,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795797256012603,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7442210376834025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 378,
+            "max_stable_success_frames": 378,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3275282407509337,
+              -0.3326368086553214,
+              0.8515395937540208
+            ],
+            "target_position": [
+              0.319731553413427,
+              -0.33409439528636803,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007931764761126144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844801498618604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395937540208,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515669903823223,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626159774630847,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535543387189483,
+            "release_required_pad_clearance": 0.053130798873154236,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2875317336517669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769883394241333,
+            "max_z_decrease": 0.00769883394241333,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516592106918511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769883394241333,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021133355373668894,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00769883394241333,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076988524917640236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17543147504329676,
+              -0.3903558552265167,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17543147504329676,
+              -0.3903558552265167,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17401612755876372,
+              -0.3882377288562468,
+              0.8077908114498613
+            ],
+            "closest_button": [
+              0.17542202770709983,
+              -0.39035940170288086,
+              0.7727171182632446
+            ],
+            "closest_ee_minus_button": [
+              -0.0014059001483361089,
+              0.0021216728466340595,
+              0.03507369318661668
+            ],
+            "button_min_z_position": [
+              0.1754149198532104,
+              -0.3903592526912689,
+              0.7691100239753723
+            ],
+            "min_active_finger_to_button": 0.14654381816540105,
+            "closest_active_finger": [
+              0.04656631499528885,
+              -0.45101553201675415,
+              0.8110184669494629
+            ],
+            "closest_active_finger_button": [
+              0.17543496191501612,
+              -0.39035850763320923,
+              0.7765411138534546
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12886864691972727,
+              -0.06065702438354492,
+              0.0344773530960083
+            ],
+            "min_contact_pad_to_button": 0.021133355373668894,
+            "closest_contact_pad": [
+              0.1754149198532104,
+              -0.3903592526912689,
+              0.7902433793490412
+            ],
+            "closest_contact_pad_button": [
+              0.1754149198532104,
+              -0.3903592526912689,
+              0.7691100239753723
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021133355373668894
+            ]
+          },
+          "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": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc693ec831e40fdebcd7710ad67bc6c2f7527894f8a3f17ae54dcf80e1a9b137",
+    "visual_seed": 707023800282997599,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbab66a86e8b82041ab497caab1db4ef9e00d324
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_28_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3847104475107037,
+              0.21291958372662115,
+              1.1652985517441259
+            ],
+            "current_z": 1.1652985517441259,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3041918649154255,
+            "gripper_z": 1.1544417106583778,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37964052440546225,
+              0.20813175904148057,
+              1.1544417106583778
+            ],
+            "object_minus_gripper": [
+              0.005069923105241458,
+              0.004787824685140579,
+              0.010856841085748137
+            ],
+            "object_to_gripper_xy": 0.00697333388765393,
+            "object_to_gripper_z": 0.010856841085748137,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3847104475107037,
+              0.18867862306894867,
+              1.1652985517441259
+            ],
+            "finger_b": [
+              0.37403317138664943,
+              0.21291958372662115,
+              1.1652985517441259
+            ],
+            "finger_midpoint": [
+              0.37937180944867654,
+              0.2007991033977849,
+              1.1652985517441259
+            ],
+            "object_minus_finger_midpoint": [
+              0.005338638062027168,
+              0.012120480328836253,
+              0.0
+            ],
+            "finger_gap": 0.026488269083428696,
+            "fingertip_max_gap": 0.09080872135127735,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013244134541714372,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652985517441259,
+            "object_top_z": 1.2151569313628992,
+            "finger_top_clearance": 0.04985837961877326,
+            "fingertip_min_top_clearance": 0.014957513885631945,
+            "object_projection_between_fingers": 0.8375148075734746,
+            "object_to_finger_line_xy": 0.009771398411843768,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790436067563868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7486345593364984,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33433810038929046,
+              -0.33655755253098063,
+              0.8515394966772483
+            ],
+            "target_position": [
+              0.32537443993955717,
+              -0.3387160240711278,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0092198811298052,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18694454428779197,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394966772483,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755384298996014,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526337601687071,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15500582289613918,
+            "release_required_pad_clearance": 0.05263168800843536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3238509841472187,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008067011833190918,
+            "max_z_decrease": 0.008067011833190918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510912339593604,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008067011833190918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021106809204724422,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008067011833190918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008067015696600807,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18107436597347254,
+              -0.39497748017311096,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18107436597347254,
+              -0.39497748017311096,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18272801125124577,
+              -0.394105672993627,
+              0.8038010178175248
+            ],
+            "closest_button": [
+              0.18106846511363978,
+              -0.39497223496437067,
+              0.7687418460845947
+            ],
+            "closest_ee_minus_button": [
+              0.001659546137605994,
+              0.0008665619707436956,
+              0.03505917173293005
+            ],
+            "button_min_z_position": [
+              0.18106846511363978,
+              -0.39497223496437067,
+              0.7687418460845947
+            ],
+            "min_active_finger_to_button": 0.14402704295022226,
+            "closest_active_finger": [
+              0.05674920976161957,
+              -0.4589748978614807,
+              0.8097769021987915
+            ],
+            "closest_active_finger_button": [
+              0.18107992410659784,
+              -0.39498096704483027,
+              0.7752741575241089
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12433071434497828,
+              -0.06399393081665045,
+              0.03450274467468262
+            ],
+            "min_contact_pad_to_button": 0.021106809204724422,
+            "closest_contact_pad": [
+              0.18106846511363978,
+              -0.3950982121809514,
+              0.7898482793348041
+            ],
+            "closest_contact_pad_button": [
+              0.18106846511363978,
+              -0.39497223496437067,
+              0.7687418460845947
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012597721658075267,
+              0.021106433250209333
+            ]
+          },
+          "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": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51d8bb572651fb272d40e580d575ff60f0619884f3a70391435ea913533e9d98",
+    "visual_seed": 5358921498729881675,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..187b380e9a8f2862897540d5c7422ed3b1656d1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_29_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3799172514008413,
+              0.21163671874263246,
+              1.1640903671856555
+            ],
+            "current_z": 1.1640903671856555,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3029836803569552,
+            "gripper_z": 1.1532884876054184,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37495179965998277,
+              0.20661957508889184,
+              1.1532884876054184
+            ],
+            "object_minus_gripper": [
+              0.004965451740858551,
+              0.005017143653740619,
+              0.01080187958023715
+            ],
+            "object_to_gripper_xy": 0.00705885553280877,
+            "object_to_gripper_z": 0.01080187958023715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3799172514008413,
+              0.18773046901265183,
+              1.1640903671856555
+            ],
+            "finger_b": [
+              0.3685609038856972,
+              0.21163671874263246,
+              1.1640903671856555
+            ],
+            "finger_midpoint": [
+              0.37423907764326925,
+              0.19968359387764215,
+              1.1640903671856555
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678173757572069,
+              0.011953124864990311,
+              0.0
+            ],
+            "finger_gap": 0.02646649589645216,
+            "fingertip_max_gap": 0.09073434334149369,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01323324794822608,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640903671856555,
+            "object_top_z": 1.213969527843942,
+            "finger_top_clearance": 0.04987916065828646,
+            "fingertip_min_top_clearance": 0.014963748197485971,
+            "object_projection_between_fingers": 0.8158869990903918,
+            "object_to_finger_line_xy": 0.010257787082190729,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786717167074685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5780283435214002,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3308788476644364,
+              -0.33593200028255743,
+              0.8515395917773232
+            ],
+            "target_position": [
+              0.3224079994718602,
+              -0.3378344198755243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008681847119673089,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466826721198126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395917773232,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549199708354179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671603189126102,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528296005140232,
+            "release_required_pad_clearance": 0.05335801594563051,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.732299057096889,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007896661758422852,
+            "max_z_decrease": 0.007896661758422852,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508000443107828,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007896661758422852,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021247586551529227,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007896661758422852,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007896687496806477,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17810793220996848,
+              -0.3940958678722381,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17810793220996848,
+              -0.3940958678722381,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1792583585501618,
+              -0.3946942172612937,
+              0.8039676210243029
+            ],
+            "closest_button": [
+              0.1780880242586135,
+              -0.3940990567207336,
+              0.7689121961593628
+            ],
+            "closest_ee_minus_button": [
+              0.0011703342915483084,
+              -0.0005951605405601357,
+              0.035055424864940066
+            ],
+            "button_min_z_position": [
+              0.1780880242586135,
+              -0.3940990567207336,
+              0.7689121961593628
+            ],
+            "min_active_finger_to_button": 0.14468894994824796,
+            "closest_active_finger": [
+              0.03853587806224823,
+              -0.3784039318561554,
+              0.8078874349594116
+            ],
+            "closest_active_finger_button": [
+              0.17811837792396537,
+              -0.39410185813903803,
+              0.7731715440750122
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13958249986171714,
+              0.015697926282882635,
+              0.034715890884399414
+            ],
+            "min_contact_pad_to_button": 0.021247586551529227,
+            "closest_contact_pad": [
+              0.1780880242586135,
+              -0.3958942622318773,
+              0.7900838085551508
+            ],
+            "closest_contact_pad_button": [
+              0.1780880242586135,
+              -0.3940990567207336,
+              0.7689121961593628
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017952055111437049,
+              0.02117161239578802
+            ]
+          },
+          "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": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fccaab35647ef8f3a0a414624630ffcfae012fb2d9185ed6a9ee2160ffbcbbd",
+    "visual_seed": 3960526001096669093,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..771c675aa91e3d5447c8bf51df4a69cf355355f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_2_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38197829278651596,
+              0.212786974467534,
+              1.1641356377662342
+            ],
+            "current_z": 1.1641356377662342,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30302912975146823,
+            "gripper_z": 1.1532871804531186,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3769772799832236,
+              0.20792981738937205,
+              1.1532871804531186
+            ],
+            "object_minus_gripper": [
+              0.005001012803292348,
+              0.00485715707816195,
+              0.010848457313115567
+            ],
+            "object_to_gripper_xy": 0.0069715209201889885,
+            "object_to_gripper_z": 0.010848457313115567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38197829278651596,
+              0.18879716508892935,
+              1.1641356377662342
+            ],
+            "finger_b": [
+              0.37093263769158275,
+              0.212786974467534,
+              1.1641356377662342
+            ],
+            "finger_midpoint": [
+              0.3764554652390494,
+              0.20079206977823166,
+              1.1641356377662342
+            ],
+            "object_minus_finger_midpoint": [
+              0.00552282754746658,
+              0.011994904689302338,
+              0.0
+            ],
+            "finger_gap": 0.02641055566431747,
+            "fingertip_max_gap": 0.09074017026062611,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013205277832158737,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641356377662342,
+            "object_top_z": 1.2139616679596037,
+            "finger_top_clearance": 0.04982603019336951,
+            "fingertip_min_top_clearance": 0.014947809058010852,
+            "object_projection_between_fingers": 0.8250846679332334,
+            "object_to_finger_line_xy": 0.010033229272312209,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787008513031306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6536745557400568,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.335091966791505,
+              -0.33608224369201456,
+              0.8515395622809827
+            ],
+            "target_position": [
+              0.32626836892932454,
+              -0.3381886571128068,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009071541034067435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836674961003434,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395622809827,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075813284222005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774979107683999,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15126336470298407,
+            "release_required_pad_clearance": 0.053874895538419995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7594018686587103,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00791388750076294,
+            "max_z_decrease": 0.00791388750076294,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350493955281408,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00791388750076294,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021301148255164066,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00791388750076294,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007913905375110566,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1819683015346527,
+              -0.3944501280784606,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1819683015346527,
+              -0.3944501280784606,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18037927904759665,
+              -0.3957076366888475,
+              0.8075312402319085
+            ],
+            "closest_button": [
+              0.1819581240415573,
+              -0.3944528698921203,
+              0.7725399136543274
+            ],
+            "closest_ee_minus_button": [
+              -0.0015788449939606597,
+              -0.0012547667967272025,
+              0.03499132657758108
+            ],
+            "button_min_z_position": [
+              0.18195170164108276,
+              -0.3944528400897979,
+              0.7688949704170227
+            ],
+            "min_active_finger_to_button": 0.1476733010807442,
+            "closest_active_finger": [
+              0.03933945298194885,
+              -0.3786831200122833,
+              0.8079667687416077
+            ],
+            "closest_active_finger_button": [
+              0.18197929859161377,
+              -0.39445582032203663,
+              0.7731457948684692
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14263984560966492,
+              0.015772700309753307,
+              0.03482097387313843
+            ],
+            "min_contact_pad_to_button": 0.021301148255164066,
+            "closest_contact_pad": [
+              0.18195170164108276,
+              -0.3970173275090576,
+              0.7900411833466453
+            ],
+            "closest_contact_pad_button": [
+              0.18195170164108276,
+              -0.3944528400897979,
+              0.7688949704170227
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025644874192596867,
+              0.0211462129296226
+            ]
+          },
+          "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": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0686c70ab7cdd35738d579ec310c06c98f2d8e565167aebeeb65a7a6f448eae6",
+    "visual_seed": 3990245776579798153,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d37da81c86f0e833bbec861bbb7b9379dcb2f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_30_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38560375879004394,
+              0.21741046568645325,
+              1.164309302618166
+            ],
+            "current_z": 1.164309302618166,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30320267539411017,
+            "gripper_z": 1.1534855963231465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3804765040537026,
+              0.21235460012326668,
+              1.1534855963231465
+            ],
+            "object_minus_gripper": [
+              0.005127254736341347,
+              0.005055865563186573,
+              0.010823706295019386
+            ],
+            "object_to_gripper_xy": 0.007200730360480849,
+            "object_to_gripper_z": 0.010823706295019386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38560375879004394,
+              0.19346163942473285,
+              1.164309302618166
+            ],
+            "finger_b": [
+              0.3741010885607332,
+              0.21741046568645325,
+              1.164309302618166
+            ],
+            "finger_midpoint": [
+              0.3798524236753886,
+              0.20543605255559305,
+              1.164309302618166
+            ],
+            "object_minus_finger_midpoint": [
+              0.005751335114655365,
+              0.011974413130860201,
+              0.0
+            ],
+            "finger_gap": 0.026567982642992302,
+            "fingertip_max_gap": 0.09066924178243876,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013283991321496151,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164309302618166,
+            "object_top_z": 1.2141605206153248,
+            "finger_top_clearance": 0.04985121799715886,
+            "fingertip_min_top_clearance": 0.01495536539914769,
+            "object_projection_between_fingers": 0.8125522721050257,
+            "object_to_finger_line_xy": 0.010368700347682865,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047834620891219384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6115000827629786,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3293802470640499,
+              -0.3395418418118338,
+              0.8515395772428608
+            ],
+            "target_position": [
+              0.32005152515027663,
+              -0.3418540317537849,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009610997600258443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857224516169927,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395772428608,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538451785390173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600694911554761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543220005277484,
+            "release_required_pad_clearance": 0.05300347455777381,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0400355685234228,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00809776782989502,
+            "max_z_decrease": 0.00809776782989502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035081745149125286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00809776782989502,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103202032520146,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00809776782989502,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008097776650945934,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17575144767761225,
+              -0.39811548590660095,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17575144767761225,
+              -0.39811548590660095,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1739924824907036,
+              -0.3967167881441619,
+              0.8037207741291649
+            ],
+            "closest_button": [
+              0.17575895786285395,
+              -0.398106187582016,
+              0.7687110900878906
+            ],
+            "closest_ee_minus_button": [
+              -0.0017664753721503557,
+              0.0013893994378540997,
+              0.03500968404127425
+            ],
+            "button_min_z_position": [
+              0.17575895786285395,
+              -0.398106187582016,
+              0.7687110900878906
+            ],
+            "min_active_finger_to_button": 0.14673052441376963,
+            "closest_active_finger": [
+              0.04705076664686203,
+              -0.45959705114364624,
+              0.8112464547157288
+            ],
+            "closest_active_finger_button": [
+              0.17575223743915552,
+              -0.39811709523200983,
+              0.7768082022666931
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1287014707922935,
+              -0.06147995591163641,
+              0.034438252449035645
+            ],
+            "min_contact_pad_to_button": 0.02103202032520146,
+            "closest_contact_pad": [
+              0.17575895786285395,
+              -0.398106187582016,
+              0.7897431104130921
+            ],
+            "closest_contact_pad_button": [
+              0.17575895786285395,
+              -0.398106187582016,
+              0.7687110900878906
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02103202032520146
+            ]
+          },
+          "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": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65759d97264031d575d8630cf8c1fd105d794785936858302d42b0949b51a999",
+    "visual_seed": 3643899712493505445,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8468193224f1595678fdea41bc80acd1077ef73d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_31_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3776198932854612,
+              0.21784843837180606,
+              1.16545259694646
+            ],
+            "current_z": 1.16545259694646,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3043461485363389,
+            "gripper_z": 1.1546103989581329,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37257898299153624,
+              0.21290921564589477,
+              1.1546103989581329
+            ],
+            "object_minus_gripper": [
+              0.0050409102939249495,
+              0.004939222725911296,
+              0.010842197988327085
+            ],
+            "object_to_gripper_xy": 0.00705738604070637,
+            "object_to_gripper_z": 0.010842197988327085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3776198932854612,
+              0.19380195687056237,
+              1.16545259694646
+            ],
+            "finger_b": [
+              0.3664846928991292,
+              0.21784843837180606,
+              1.16545259694646
+            ],
+            "finger_midpoint": [
+              0.3720522930922952,
+              0.20582519762118423,
+              1.16545259694646
+            ],
+            "object_minus_finger_midpoint": [
+              0.005567600193165989,
+              0.012023240750621833,
+              0.0
+            ],
+            "finger_gap": 0.026499546415616686,
+            "fingertip_max_gap": 0.0907973786876046,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013249773207808329,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16545259694646,
+            "object_top_z": 1.2153389406106423,
+            "finger_top_clearance": 0.04988634366418232,
+            "fingertip_min_top_clearance": 0.014965903099254663,
+            "object_projection_between_fingers": 0.8234290745922408,
+            "object_to_finger_line_xy": 0.010104414087056817,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478986893438023,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7222362536318752,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3295621504127756,
+              -0.3374696862204238,
+              0.8515395895317712
+            ],
+            "target_position": [
+              0.320003378266722,
+              -0.33977980366684907,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009833959912286035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18449668382813184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395895317712,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533959241311088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585577118959585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15329424277728643,
+            "release_required_pad_clearance": 0.05292788559479793,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8934985725377316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008112192153930664,
+            "max_z_decrease": 0.008112192153930664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502283332903872,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008112192153930664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02107752962673759,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008112192153930664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008112206386169423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17570330202579496,
+              -0.39604127407073975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17570330202579496,
+              -0.39604127407073975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17531643252348394,
+              -0.3947410332749679,
+              0.8036934856523787
+            ],
+            "closest_button": [
+              0.17571420967578882,
+              -0.3960306942462921,
+              0.768696665763855
+            ],
+            "closest_ee_minus_button": [
+              -0.000397777152304879,
+              0.0012896609713242135,
+              0.03499681988852377
+            ],
+            "button_min_z_position": [
+              0.17571420967578882,
+              -0.3960306942462921,
+              0.768696665763855
+            ],
+            "min_active_finger_to_button": 0.14562453978584392,
+            "closest_active_finger": [
+              0.0480656623840332,
+              -0.457030713558197,
+              0.8107067346572876
+            ],
+            "closest_active_finger_button": [
+              0.1757078021764755,
+              -0.3960447609424591,
+              0.7761422395706177
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276421397924423,
+              -0.060985952615737915,
+              0.03456449508666992
+            ],
+            "min_contact_pad_to_button": 0.02107752962673759,
+            "closest_contact_pad": [
+              0.17571420967578882,
+              -0.3960306942462921,
+              0.7897741953905926
+            ],
+            "closest_contact_pad_button": [
+              0.17571420967578882,
+              -0.3960306942462921,
+              0.768696665763855
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107752962673759
+            ]
+          },
+          "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": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c792a18984ff8d02d8b8646a47ea7fd5217ca7e36b1726627acf77646c0644ca",
+    "visual_seed": 6236409935328074830,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95fe1f99c12f6453e17bf3b9d23a16d137a453f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_32_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3786541869976914,
+              0.21402530574592707,
+              1.163839102273999
+            ],
+            "current_z": 1.163839102273999,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3027324154452985,
+            "gripper_z": 1.1529795077277096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3734321083626784,
+              0.20911235737359304,
+              1.1529795077277096
+            ],
+            "object_minus_gripper": [
+              0.00522207863501295,
+              0.004912948372334025,
+              0.010859594546289264
+            ],
+            "object_to_gripper_xy": 0.007169879146783317,
+            "object_to_gripper_z": 0.010859594546289264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3786541869976914,
+              0.1896029764500205,
+              1.163839102273999
+            ],
+            "finger_b": [
+              0.36788342391223366,
+              0.21402530574592707,
+              1.163839102273999
+            ],
+            "finger_midpoint": [
+              0.37326880545496255,
+              0.2018141410979738,
+              1.163839102273999
+            ],
+            "object_minus_finger_midpoint": [
+              0.005385381542728829,
+              0.012211164647953271,
+              0.0
+            ],
+            "finger_gap": 0.026691937091203304,
+            "fingertip_max_gap": 0.0908997622488518,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334596854560163,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163839102273999,
+            "object_top_z": 1.2137208417828464,
+            "finger_top_clearance": 0.049881739508847556,
+            "fingertip_min_top_clearance": 0.014964521852654233,
+            "object_projection_between_fingers": 0.8371706230065501,
+            "object_to_finger_line_xy": 0.009854928173344685,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479498811244259,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7587545922045333,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33491927949946776,
+              -0.33347422640911306,
+              0.851539570166758
+            ],
+            "target_position": [
+              0.3268471006740734,
+              -0.33526475222569163,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008268376726358037,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839757101120171,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539570166758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754663940718159,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666833886584473,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15244289557080196,
+            "release_required_pad_clearance": 0.053334169432922365,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.685582089538381,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008153319358825684,
+            "max_z_decrease": 0.008153319358825684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034994508061591434,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153319358825684,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021302805319496212,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008153319358825684,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008153386955570593,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1825470328330993,
+              -0.3915262222290039,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1825470328330993,
+              -0.3915262222290039,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18243148691764624,
+              -0.3917283288140826,
+              0.8037161693635678
+            ],
+            "closest_button": [
+              0.1825191974639892,
+              -0.3915261328220367,
+              0.7687223553657532
+            ],
+            "closest_ee_minus_button": [
+              -8.771054634296171e-05,
+              -0.000202195992045906,
+              0.03499381399781465
+            ],
+            "button_min_z_position": [
+              0.1825139075517654,
+              -0.39152398705482483,
+              0.76865553855896
+            ],
+            "min_active_finger_to_button": 0.14605275185547545,
+            "closest_active_finger": [
+              0.04183414578437805,
+              -0.37423187494277954,
+              0.8078411817550659
+            ],
+            "closest_active_finger_button": [
+              0.18255791068077082,
+              -0.39153292775154114,
+              0.772785484790802
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14072376489639277,
+              0.017301052808761597,
+              0.035055696964263916
+            ],
+            "min_contact_pad_to_button": 0.021302805319496212,
+            "closest_contact_pad": [
+              0.1825139075517654,
+              -0.39302986744945767,
+              0.7899050524055734
+            ],
+            "closest_contact_pad_button": [
+              0.1825139075517654,
+              -0.39152398705482483,
+              0.76865553855896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015058803946328414,
+              0.021249513846613444
+            ]
+          },
+          "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": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28e6bd2b3431466fdd0e5e4073ac6e0debc34aba35ddc0a5ca69f04fed8e9d8a",
+    "visual_seed": 5350926797622432673,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..220bc8c5917af206730803e19601d411908fe906
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_33_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38286177612994865,
+              0.21385519429083874,
+              1.1622975207792265
+            ],
+            "current_z": 1.1622975207792265,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30119113197375014,
+            "gripper_z": 1.1514080176258634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37750046316674446,
+              0.2088471614943094,
+              1.1514080176258634
+            ],
+            "object_minus_gripper": [
+              0.00536131296320419,
+              0.005008032796529338,
+              0.010889503153363123
+            ],
+            "object_to_gripper_xy": 0.007336488886417995,
+            "object_to_gripper_z": 0.010889503153363123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38286177612994865,
+              0.189606262031767,
+              1.1622975207792265
+            ],
+            "finger_b": [
+              0.3716096385207003,
+              0.21385519429083874,
+              1.1622975207792265
+            ],
+            "finger_midpoint": [
+              0.37723570732532447,
+              0.20173072816130289,
+              1.1622975207792265
+            ],
+            "object_minus_finger_midpoint": [
+              0.005626068804624185,
+              0.012124466129535855,
+              0.0
+            ],
+            "finger_gap": 0.026732401996126566,
+            "fingertip_max_gap": 0.0906824519584776,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013366200998063271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622975207792265,
+            "object_top_z": 1.2121027616477216,
+            "finger_top_clearance": 0.049805240868495027,
+            "fingertip_min_top_clearance": 0.014941572260548541,
+            "object_projection_between_fingers": 0.8228284017601648,
+            "object_to_finger_line_xy": 0.010206801569718746,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478412259792388,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5860395537963149,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33591861803366274,
+              -0.3361496604398333,
+              0.8515396037364358
+            ],
+            "target_position": [
+              0.32677169191406885,
+              -0.33824123943463447,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009383014447862818,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845904319191083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396037364358,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541824692248396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627709614962385,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15308584242970644,
+            "release_required_pad_clearance": 0.05313854807481193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3026407406926632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00783538818359375,
+            "max_z_decrease": 0.00783538818359375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504637082814359,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00783538818359375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021290682806197076,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00783538818359375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007835414093328077,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18247161805629725,
+              -0.3945026993751526,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18247161805629725,
+              -0.3945026993751526,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18057290831435835,
+              -0.3950592787064102,
+              0.8078100646806144
+            ],
+            "closest_button": [
+              0.1824624091386795,
+              -0.39450588822364807,
+              0.7728190422058105
+            ],
+            "closest_ee_minus_button": [
+              -0.0018895008243211553,
+              -0.0005533904827621505,
+              0.0349910224748039
+            ],
+            "button_min_z_position": [
+              0.1824514716863632,
+              -0.39450308680534363,
+              0.7689734697341919
+            ],
+            "min_active_finger_to_button": 0.14810255899765887,
+            "closest_active_finger": [
+              0.03959125280380249,
+              -0.37731853127479553,
+              0.8081572651863098
+            ],
+            "closest_active_finger_button": [
+              0.18248088657855982,
+              -0.39450937509536743,
+              0.7732087969779968
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14288963377475733,
+              0.0171908438205719,
+              0.03494846820831299
+            ],
+            "min_contact_pad_to_button": 0.021290682806197076,
+            "closest_contact_pad": [
+              0.1824514716863632,
+              -0.39643488666703314,
+              0.7901763309479166
+            ],
+            "closest_contact_pad_button": [
+              0.1824514716863632,
+              -0.39450308680534363,
+              0.7689734697341919
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019317998616895093,
+              0.021202861213724722
+            ]
+          },
+          "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": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5e469441aa1122fe502cfc5663ce54c336a58f86d786f90f6e3c3705ee03e53",
+    "visual_seed": 74291144773557941,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..188825697642d64ae776b3fd2510e0d30fb2e7e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_34_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3782928134026661,
+              0.21930960124292073,
+              1.1638164909931075
+            ],
+            "current_z": 1.1638164909931075,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3027099829783415,
+            "gripper_z": 1.1529806507694254,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3731140796698707,
+              0.21440660190979532,
+              1.1529806507694254
+            ],
+            "object_minus_gripper": [
+              0.005178733732795371,
+              0.004902999333125407,
+              0.010835840223682114
+            ],
+            "object_to_gripper_xy": 0.007131527573796575,
+            "object_to_gripper_z": 0.010835840223682114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3782928134026661,
+              0.19509212905359763,
+              1.1638164909931075
+            ],
+            "finger_b": [
+              0.36731476609817465,
+              0.21930960124292073,
+              1.1638164909931075
+            ],
+            "finger_midpoint": [
+              0.3728037897504204,
+              0.2072008651482592,
+              1.1638164909931075
+            ],
+            "object_minus_finger_midpoint": [
+              0.005489023652245684,
+              0.012108736094661537,
+              0.0
+            ],
+            "finger_gap": 0.026589537074952797,
+            "fingertip_max_gap": 0.0907291403340186,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013294768537476374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638164909931075,
+            "object_top_z": 1.2137295257568494,
+            "finger_top_clearance": 0.04991303476374198,
+            "fingertip_min_top_clearance": 0.014973910429122593,
+            "object_projection_between_fingers": 0.8295375826119811,
+            "object_to_finger_line_xy": 0.009998690633092416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047864570167009304,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5002183000033333,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33355161734089767,
+              -0.33854266763822655,
+              0.8515396438002361
+            ],
+            "target_position": [
+              0.3240196134169472,
+              -0.34074386037530285,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009782859922945074,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18531061374677976,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396438002361,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531798904209566,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537591253114872,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15407037193165377,
+            "release_required_pad_clearance": 0.05268795626557436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43159997745927464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008065223693847656,
+            "max_z_decrease": 0.008065223693847656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350782457397937,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008065223693847656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021096682482986722,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008065223693847656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008065228054995419,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1797195374965668,
+              -0.39700531959533686,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1797195374965668,
+              -0.39700531959533686,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1792670734294585,
+              -0.3973869123490166,
+              0.8038168962334283
+            ],
+            "closest_button": [
+              0.17971363663673404,
+              -0.3969993591308594,
+              0.768743634223938
+            ],
+            "closest_ee_minus_button": [
+              -0.000446563207275541,
+              -0.00038755321815719945,
+              0.03507326200949035
+            ],
+            "button_min_z_position": [
+              0.17971363663673404,
+              -0.3969993591308594,
+              0.768743634223938
+            ],
+            "min_active_finger_to_button": 0.1461852342162436,
+            "closest_active_finger": [
+              0.03827732801437378,
+              -0.3836798369884491,
+              0.8109258413314819
+            ],
+            "closest_active_finger_button": [
+              0.17972220480442053,
+              -0.397007405757904,
+              0.7764897346496582
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14144487679004675,
+              0.0133275687694549,
+              0.03443610668182373
+            ],
+            "min_contact_pad_to_button": 0.021096682482986722,
+            "closest_contact_pad": [
+              0.17971363663673404,
+              -0.3983478816971399,
+              0.789797173087421
+            ],
+            "closest_contact_pad_button": [
+              0.17971363663673404,
+              -0.3969993591308594,
+              0.768743634223938
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013485225662805411,
+              0.021053538863483046
+            ]
+          },
+          "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": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a0337f81277dec95c1035a1097c6ec308913d9906acc159da7bbccaf6403709",
+    "visual_seed": 4746326573149773290,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f5efea88c31222daf2dfd8aa70bfd3e30d06f2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_35_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3812573196575,
+              0.2170386234766707,
+              1.1658642457264619
+            ],
+            "current_z": 1.1658642457264619,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3047577377116959,
+            "gripper_z": 1.154990377314437,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3762225689658689,
+              0.21222572876728701,
+              1.154990377314437
+            ],
+            "object_minus_gripper": [
+              0.0050347506916310625,
+              0.004812894709383675,
+              0.010873868412024867
+            ],
+            "object_to_gripper_xy": 0.00696510373293125,
+            "object_to_gripper_z": 0.010873868412024867,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3812573196575,
+              0.19293418301169668,
+              1.1658642457264619
+            ],
+            "finger_b": [
+              0.37039675851439263,
+              0.2170386234766707,
+              1.1658642457264619
+            ],
+            "finger_midpoint": [
+              0.3758270390859463,
+              0.20498640324418368,
+              1.1658642457264619
+            ],
+            "object_minus_finger_midpoint": [
+              0.005430280571553703,
+              0.012052220232487004,
+              0.0
+            ],
+            "finger_gap": 0.026438151192408475,
+            "fingertip_max_gap": 0.09086943896993185,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219075596204248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658642457264619,
+            "object_top_z": 1.2156859790079615,
+            "finger_top_clearance": 0.049821733281499636,
+            "fingertip_min_top_clearance": 0.014946519984449857,
+            "object_projection_between_fingers": 0.8312505499461715,
+            "object_to_finger_line_xy": 0.009901893199151218,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793471948496593,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8677876998599239,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33235139516785117,
+              -0.3381425711245789,
+              0.8515395820742001
+            ],
+            "target_position": [
+              0.32340506221694304,
+              -0.34020645021240786,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009181310917166584,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18509093552826386,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395820742001,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520686863239327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572277214549288,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15406986706160752,
+            "release_required_pad_clearance": 0.052861386072746444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7651459526927888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007899045944213867,
+            "max_z_decrease": 0.007899045944213867,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500831705140732,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007899045944213867,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021227458737180512,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007899045944213867,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00789906896625454,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1791049838066101,
+              -0.3964678943157196,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1791049838066101,
+              -0.3964678943157196,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17946507516137172,
+              -0.39579191359281446,
+              0.8049700234075716
+            ],
+            "closest_button": [
+              0.17908972501754758,
+              -0.3964705765247345,
+              0.7699702978134155
+            ],
+            "closest_ee_minus_button": [
+              0.00037535014382414356,
+              0.0006786629319200377,
+              0.034999725594156095
+            ],
+            "button_min_z_position": [
+              0.17908622324466703,
+              -0.3964713215827942,
+              0.7689098119735718
+            ],
+            "min_active_finger_to_button": 0.14542820073805676,
+            "closest_active_finger": [
+              0.05163829028606415,
+              -0.45716434717178345,
+              0.808017373085022
+            ],
+            "closest_active_finger_button": [
+              0.17911647260189054,
+              -0.39647164940834045,
+              0.7731595039367676
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274781823158264,
+              -0.06069269776344299,
+              0.034857869148254395
+            ],
+            "min_contact_pad_to_button": 0.021227458737180512,
+            "closest_contact_pad": [
+              0.17908622324466703,
+              -0.3971503798090394,
+              0.7901264065251031
+            ],
+            "closest_contact_pad_button": [
+              0.17908622324466703,
+              -0.3964713215827942,
+              0.7689098119735718
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006790582262451994,
+              0.021216594551531354
+            ]
+          },
+          "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": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a007914b88a3f43806e1fa4dc14f4555466ff00c2ec4de1a5acddc0055c4850",
+    "visual_seed": 7660574880929717739,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a04c21a34cbdeacf936f621066ebe8088c53703f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_36_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3785871600048388,
+              0.2176695265826809,
+              1.1654978464487002
+            ],
+            "current_z": 1.1654978464487002,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3043913384339342,
+            "gripper_z": 1.1546249361756067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3733983724668165,
+              0.2127617157380907,
+              1.1546249361756067
+            ],
+            "object_minus_gripper": [
+              0.005188787538022266,
+              0.004907810844590216,
+              0.010872910273093561
+            ],
+            "object_to_gripper_xy": 0.007142137173214506,
+            "object_to_gripper_z": 0.010872910273093561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3785871600048388,
+              0.19328194125983686,
+              1.1654978464487002
+            ],
+            "finger_b": [
+              0.36780877533992185,
+              0.2176695265826809,
+              1.1654978464487002
+            ],
+            "finger_midpoint": [
+              0.37319796767238034,
+              0.2054757339212589,
+              1.1654978464487002
+            ],
+            "object_minus_finger_midpoint": [
+              0.005389192332458437,
+              0.01219379266142201,
+              0.0
+            ],
+            "finger_gap": 0.0266632311219761,
+            "fingertip_max_gap": 0.09098307807979253,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013331615560988025,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1654978464487002,
+            "object_top_z": 1.2153942430257119,
+            "finger_top_clearance": 0.049896396577011615,
+            "fingertip_min_top_clearance": 0.014968918973103517,
+            "object_projection_between_fingers": 0.836588805999003,
+            "object_to_finger_line_xy": 0.009858474183252456,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799153903989627,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8157344761179582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3343693622071263,
+              -0.34060514084474125,
+              0.8515395831189818
+            ],
+            "target_position": [
+              0.3265183255904806,
+              -0.34232662017583226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008037553548393025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18381071919313668,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395831189818,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524511720962433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684861252408742,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280104558131954,
+            "release_required_pad_clearance": 0.05342430626204371,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8629247258130306,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008224248886108398,
+            "max_z_decrease": 0.008224248886108398,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500547347314233,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008224248886108398,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021125730074349612,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008224248886108398,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00822426665225189,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18221825361251826,
+              -0.39858809113502497,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18221825361251826,
+              -0.39858809113502497,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1813281632795987,
+              -0.3992760553060115,
+              0.8036389233112844
+            ],
+            "closest_button": [
+              0.18222747743129725,
+              -0.39857822656631464,
+              0.7686519622802734
+            ],
+            "closest_ee_minus_button": [
+              -0.0008993141516985548,
+              -0.0006978287396968708,
+              0.034986961031010955
+            ],
+            "button_min_z_position": [
+              0.18222966790199274,
+              -0.3985753655433654,
+              0.7685846090316772
+            ],
+            "min_active_finger_to_button": 0.14664086650558494,
+            "closest_active_finger": [
+              0.040454715490341187,
+              -0.3842182755470276,
+              0.8085682988166809
+            ],
+            "closest_active_finger_button": [
+              0.18222533166408533,
+              -0.3985940217971801,
+              0.7739565372467041
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14177061617374415,
+              0.014375746250152532,
+              0.03461176156997681
+            ],
+            "min_contact_pad_to_button": 0.021125730074349612,
+            "closest_contact_pad": [
+              0.18222966790199274,
+              -0.40036071844437493,
+              0.7896347630974587
+            ],
+            "closest_contact_pad_button": [
+              0.18222966790199274,
+              -0.3985753655433654,
+              0.7685846090316772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001785352901009507,
+              0.02105015406578148
+            ]
+          },
+          "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": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc7e5d82328fdbc16b4abd87c6814aa42dcb75b23454a2aa6fc91c54a8951542",
+    "visual_seed": 8378847106422422657,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d01176e502105cb909b9d014a17b49b82f9bcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_37_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3775784110003791,
+              0.2116348649223458,
+              1.1663793112203484
+            ],
+            "current_z": 1.1663793112203484,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3052725647870034,
+            "gripper_z": 1.1555496094820485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3723538702978799,
+              0.20668455650648695,
+              1.1555496094820485
+            ],
+            "object_minus_gripper": [
+              0.00522454070249917,
+              0.004950308415858834,
+              0.01082970173829989
+            ],
+            "object_to_gripper_xy": 0.007197317483909773,
+            "object_to_gripper_z": 0.01082970173829989,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3775784110003791,
+              0.18724661732091147,
+              1.1663793112203484
+            ],
+            "finger_b": [
+              0.36670301568866126,
+              0.2116348649223458,
+              1.1663793112203484
+            ],
+            "finger_midpoint": [
+              0.37214071334452015,
+              0.19944074112162863,
+              1.1663793112203484
+            ],
+            "object_minus_finger_midpoint": [
+              0.005437697655858942,
+              0.01219412380071716,
+              0.0
+            ],
+            "finger_gap": 0.026703199138960878,
+            "fingertip_max_gap": 0.09105709336201204,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013351599569480451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663793112203484,
+            "object_top_z": 1.2163030498616811,
+            "finger_top_clearance": 0.049923738641332704,
+            "fingertip_min_top_clearance": 0.014977121592399811,
+            "object_projection_between_fingers": 0.8341316535060822,
+            "object_to_finger_line_xy": 0.009932586438254537,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802854668100602,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8258808636199063,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 378,
+            "max_stable_success_frames": 378,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3283776702451882,
+              -0.3412397737435905,
+              0.8515396107410456
+            ],
+            "target_position": [
+              0.3208107335634099,
+              -0.3427387821979894,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007713984514659194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827234086825361,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396107410456,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567883403243031,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720092253695948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1505761852369122,
+            "release_required_pad_clearance": 0.05360046126847974,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.211413363216683,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008039593696594238,
+            "max_z_decrease": 0.008039593696594238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505686255636345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008039593696594238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02121150523787221,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008039593696594238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008039604544621663,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17651066184043884,
+              -0.39900022745132435,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17651066184043884,
+              -0.39900022745132435,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1773633098092559,
+              -0.39919820309370807,
+              0.8038148794866792
+            ],
+            "closest_button": [
+              0.17649748921394348,
+              -0.39900118112564076,
+              0.7687692642211914
+            ],
+            "closest_ee_minus_button": [
+              0.0008658205953124276,
+              -0.00019702196806731243,
+              0.03504561526548777
+            ],
+            "button_min_z_position": [
+              0.17649748921394348,
+              -0.39900118112564076,
+              0.7687692642211914
+            ],
+            "min_active_finger_to_button": 0.14501984111174018,
+            "closest_active_finger": [
+              0.036734774708747864,
+              -0.38210415840148926,
+              0.8077774047851562
+            ],
+            "closest_active_finger_button": [
+              0.17652073502540588,
+              -0.3990065455436706,
+              0.7730650305747986
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13978596031665802,
+              0.01690238714218134,
+              0.034712374210357666
+            ],
+            "min_contact_pad_to_button": 0.02121150523787221,
+            "closest_contact_pad": [
+              0.17649748921394348,
+              -0.4004697056212161,
+              0.789929873623148
+            ],
+            "closest_contact_pad_button": [
+              0.17649748921394348,
+              -0.39900118112564076,
+              0.7687692642211914
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014685244955753296,
+              0.02116060940195663
+            ]
+          },
+          "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": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc6754975ab795fe76f988f54788096bbc8c1e0a2d8a0609908bfaa58591d740",
+    "visual_seed": 6904916899098848056,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0482748a1483e93c11e9e4b3eef3d4134c893373
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_38_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37988199520250265,
+              0.21480094237268402,
+              1.1659398145889188
+            ],
+            "current_z": 1.1659398145889188,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3048331277602184,
+            "gripper_z": 1.1551245283484652,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3749284443972567,
+              0.209894445721991,
+              1.1551245283484652
+            ],
+            "object_minus_gripper": [
+              0.004953550805245954,
+              0.00490649665069301,
+              0.010815286240453581
+            ],
+            "object_to_gripper_xy": 0.00697218580958759,
+            "object_to_gripper_z": 0.010815286240453581,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37988199520250265,
+              0.19087118021762065,
+              1.1659398145889188
+            ],
+            "finger_b": [
+              0.36872362524600966,
+              0.21480094237268402,
+              1.1659398145889188
+            ],
+            "finger_midpoint": [
+              0.37430281022425616,
+              0.20283606129515233,
+              1.1659398145889188
+            ],
+            "object_minus_finger_midpoint": [
+              0.005579184978246499,
+              0.011964881077531686,
+              0.0
+            ],
+            "finger_gap": 0.026403460699004375,
+            "fingertip_max_gap": 0.09079621235672666,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013201730349502188,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659398145889188,
+            "object_top_z": 1.2158197857031112,
+            "finger_top_clearance": 0.0498799711141924,
+            "fingertip_min_top_clearance": 0.014963991334257753,
+            "object_projection_between_fingers": 0.8214006780842265,
+            "object_to_finger_line_xy": 0.010112959893441216,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047898106178363334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7190824880237091,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3351505257024958,
+              -0.3409841097786561,
+              0.8515396302060475
+            ],
+            "target_position": [
+              0.3260824920317412,
+              -0.3432787898248773,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009353865039034116,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18405649607769448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396302060475,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591413564934935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669506596516278,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15148236504418439,
+            "release_required_pad_clearance": 0.053347532982581394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7118457873443336,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008214473724365234,
+            "max_z_decrease": 0.008214473724365234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504875002474921,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008214473724365234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021308987706762622,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008214473724365234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00821449634768234,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18178242444992068,
+              -0.3995402455329895,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18178242444992068,
+              -0.3995402455329895,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18031513053592435,
+              -0.4008834296716195,
+              0.8071470674376694
+            ],
+            "closest_button": [
+              0.18176925182342535,
+              -0.3995431661605835,
+              0.7721541523933411
+            ],
+            "closest_ee_minus_button": [
+              -0.001454121287500998,
+              -0.0013402635110359995,
+              0.03499291504432833
+            ],
+            "button_min_z_position": [
+              0.1817649602890015,
+              -0.3995320796966553,
+              0.7685943841934204
+            ],
+            "min_active_finger_to_button": 0.1475234662768171,
+            "closest_active_finger": [
+              0.039307720959186554,
+              -0.3837343156337738,
+              0.8077301979064941
+            ],
+            "closest_active_finger_button": [
+              0.18179292976856237,
+              -0.3995455503463745,
+              0.7729287147521973
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14248520880937582,
+              0.015811234712600708,
+              0.034801483154296875
+            ],
+            "min_contact_pad_to_button": 0.021308987706762622,
+            "closest_contact_pad": [
+              0.1817649602890015,
+              -0.4022076984827417,
+              0.7897347252786182
+            ],
+            "closest_contact_pad_button": [
+              0.1817649602890015,
+              -0.3995320796966553,
+              0.7685943841934204
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002675618786086409,
+              0.0211403410851978
+            ]
+          },
+          "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": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb6dd07143016688b125fc23c35010d4c5281f41eee4eb69aaa752874bdec3b2",
+    "visual_seed": 2344366010423910905,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c0130569807b8dd83c645c9318a365a41fd53e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_39_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38361596657367963,
+              0.21102218921198634,
+              1.1632603792701757
+            ],
+            "current_z": 1.1632603792701757,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3021538116507648,
+            "gripper_z": 1.1524553173651537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3783646359080972,
+              0.20592771093246492,
+              1.1524553173651537
+            ],
+            "object_minus_gripper": [
+              0.005251330665582421,
+              0.005094478279521419,
+              0.010805061905021951
+            ],
+            "object_to_gripper_xy": 0.00731643237512668,
+            "object_to_gripper_z": 0.010805061905021951,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38361596657367963,
+              0.18693907780245383,
+              1.1632603792701757
+            ],
+            "finger_b": [
+              0.37211618137355157,
+              0.21102218921198634,
+              1.1632603792701757
+            ],
+            "finger_midpoint": [
+              0.3778660739736156,
+              0.1989806335072201,
+              1.1632603792701757
+            ],
+            "object_minus_finger_midpoint": [
+              0.005749892600064033,
+              0.012041555704766255,
+              0.0
+            ],
+            "finger_gap": 0.026687849572662077,
+            "fingertip_max_gap": 0.09067393047928765,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343924786331039,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632603792701757,
+            "object_top_z": 1.2131448214014955,
+            "finger_top_clearance": 0.04988444213131982,
+            "fingertip_min_top_clearance": 0.014965332639395944,
+            "object_projection_between_fingers": 0.8143254864626909,
+            "object_to_finger_line_xy": 0.010377404421676374,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783696523964383,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.560656769844506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33706492800373633,
+              -0.33486106435790597,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.327403062509663,
+              -0.3374803392154964,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010010606655201787,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18504449452601668,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570563631553165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284813872825878,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007931530475616455,
+            "max_z_decrease": 0.007931530475616455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503048019359378,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007931530475616455,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021394697563379323,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007931530475616455,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007931555287493659,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1831029951572418,
+              -0.39374178647994995,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1831029951572418,
+              -0.39374178647994995,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18196431581681655,
+              -0.39495330943182216,
+              0.8068922396681558
+            ],
+            "closest_button": [
+              0.18309035897254944,
+              -0.3937416970729828,
+              0.7719008326530457
+            ],
+            "closest_ee_minus_button": [
+              -0.001126043155732892,
+              -0.0012116123588393757,
+              0.034991407015110165
+            ],
+            "button_min_z_position": [
+              0.18308316171169278,
+              -0.39374130964279175,
+              0.7688773274421692
+            ],
+            "min_active_finger_to_button": 0.1472335698925516,
+            "closest_active_finger": [
+              0.04109527915716171,
+              -0.3770403265953064,
+              0.8081952333450317
+            ],
+            "closest_active_finger_button": [
+              0.1831141859292984,
+              -0.3937477767467499,
+              0.7731350660324097
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420189067721367,
+              0.01670745015144348,
+              0.03506016731262207
+            ],
+            "min_contact_pad_to_button": 0.021394697563379323,
+            "closest_contact_pad": [
+              0.18308316171169278,
+              -0.3963329717018792,
+              0.7901144734745332
+            ],
+            "closest_contact_pad_button": [
+              0.18308316171169278,
+              -0.39374130964279175,
+              0.7688773274421692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025916620590874517,
+              0.02123714603236404
+            ]
+          },
+          "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": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "771a81d819f0281056a80bab94f12f1ce7188019b0cfbff9c9bd757b2e783654",
+    "visual_seed": 4123129069610303872,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d338d0318e6ef79ae734bc1b7f8f084c4bdfa10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_3_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3863546348329862,
+              0.21009995925533861,
+              1.1651000827029474
+            ],
+            "current_z": 1.1651000827029474,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3039933958742471,
+            "gripper_z": 1.1542713976047159,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3810701240697084,
+              0.20508976549244842,
+              1.1542713976047159
+            ],
+            "object_minus_gripper": [
+              0.005284510763277794,
+              0.005010193762890192,
+              0.010828685098231539
+            ],
+            "object_to_gripper_xy": 0.007282039243845273,
+            "object_to_gripper_z": 0.010828685098231539,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3863546348329862,
+              0.18572043740673785,
+              1.1651000827029474
+            ],
+            "finger_b": [
+              0.3753253132073749,
+              0.21009995925533861,
+              1.1651000827029474
+            ],
+            "finger_midpoint": [
+              0.38083997402018055,
+              0.19791019833103823,
+              1.1651000827029474
+            ],
+            "object_minus_finger_midpoint": [
+              0.005514660812805661,
+              0.01218976092430038,
+              0.0
+            ],
+            "finger_gap": 0.026758307515378835,
+            "fingertip_max_gap": 0.09112760836843312,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379153757689418,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651000827029474,
+            "object_top_z": 1.2150105608742607,
+            "finger_top_clearance": 0.04991047817131333,
+            "fingertip_min_top_clearance": 0.014973143451394033,
+            "object_projection_between_fingers": 0.8301051079968413,
+            "object_to_finger_line_xy": 0.010048826421188909,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806380418421656,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9172485477444212,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 378,
+            "max_stable_success_frames": 378,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32883838876192817,
+              -0.3323014839062628,
+              0.851539592031904
+            ],
+            "target_position": [
+              0.32087918639384977,
+              -0.33407526420393957,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008154458834309675,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18495371758478915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539592031904,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576358277331209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08707764838035041,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15260175133981382,
+            "release_required_pad_clearance": 0.05353882419017521,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.089104076265579,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007957220077514648,
+            "max_z_decrease": 0.007957220077514648,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508210621981705,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007957220077514648,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114988589685406,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007957220077514648,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007957240289002661,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17657911777496338,
+              -0.3903367221355438,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17657911777496338,
+              -0.3903367221355438,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1767094087777888,
+              -0.38996349202440783,
+              0.8076209016585342
+            ],
+            "closest_button": [
+              0.17656822502613065,
+              -0.39034053683280945,
+              0.7725411057472229
+            ],
+            "closest_ee_minus_button": [
+              0.00014118375165814157,
+              0.00037704480840161647,
+              0.03507979591131127
+            ],
+            "button_min_z_position": [
+              0.1765615493059158,
+              -0.39034032821655273,
+              0.768851637840271
+            ],
+            "min_active_finger_to_button": 0.14591878722899515,
+            "closest_active_finger": [
+              0.049634382128715515,
+              -0.4534917175769806,
+              0.8108261823654175
+            ],
+            "closest_active_finger_button": [
+              0.1765826791524887,
+              -0.3903387486934662,
+              0.7763569951057434
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269482970237732,
+              -0.0631529688835144,
+              0.03446918725967407
+            ],
+            "min_contact_pad_to_button": 0.02114988589685406,
+            "closest_contact_pad": [
+              0.1765615493059158,
+              -0.3911319918392471,
+              0.7899867021211869
+            ],
+            "closest_contact_pad_button": [
+              0.1765615493059158,
+              -0.39034032821655273,
+              0.768851637840271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007916636226943385,
+              0.02113506428091594
+            ]
+          },
+          "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": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95a57c340411ed69c5c63127adc43dd8558cfd5664dd5160069a536b4e42387b",
+    "visual_seed": 4912667725496082223,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf7e0d38df053d8f53c03843a8f7ab25cb5399f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_40_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3831304198075969,
+              0.21413687828758804,
+              1.1653631170192869
+            ],
+            "current_z": 1.1653631170192869,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.30425648979523146,
+            "gripper_z": 1.1544985626866757,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3777231000612521,
+              0.20909548394671484,
+              1.1544985626866757
+            ],
+            "object_minus_gripper": [
+              0.005407319746344785,
+              0.005041394340873195,
+              0.010864554332611132
+            ],
+            "object_to_gripper_xy": 0.007392886022345976,
+            "object_to_gripper_z": 0.010864554332611132,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3831304198075969,
+              0.189646058112669,
+              1.1653631170192869
+            ],
+            "finger_b": [
+              0.3720915560346596,
+              0.21413687828758804,
+              1.1653631170192869
+            ],
+            "finger_midpoint": [
+              0.37761098792112824,
+              0.20189146820012852,
+              1.1653631170192869
+            ],
+            "object_minus_finger_midpoint": [
+              0.00551943188646864,
+              0.012245410087459524,
+              0.0
+            ],
+            "finger_gap": 0.026863670379114038,
+            "fingertip_max_gap": 0.09097688384387739,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013431835189557019,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653631170192869,
+            "object_top_z": 1.215260751634665,
+            "finger_top_clearance": 0.049897634615378106,
+            "fingertip_min_top_clearance": 0.014969290384613431,
+            "object_projection_between_fingers": 0.8311433970810997,
+            "object_to_finger_line_xy": 0.010063808250440256,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479884419219387,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8152582428016143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33349613184709703,
+              -0.33186126456689735,
+              0.8515396037005832
+            ],
+            "target_position": [
+              0.32551941577234506,
+              -0.3336785847550486,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008181115572064033,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362508152656137,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396037005832,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579636290555648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08740018406300169,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15123516672370285,
+            "release_required_pad_clearance": 0.05370009203150085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.409595234821983,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008008956909179688,
+            "max_z_decrease": 0.008008956909179688,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503866226846139,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008008956909179688,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021195732339561773,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008008956909179688,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008008976182920428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18121933937072748,
+              -0.38994005322456354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18121933937072748,
+              -0.38994005322456354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17988493116134047,
+              -0.3888165843140861,
+              0.8073822364025978
+            ],
+            "closest_button": [
+              0.18120871484279627,
+              -0.3899435102939605,
+              0.7723867297172546
+            ],
+            "closest_ee_minus_button": [
+              -0.0013237836814558035,
+              0.0011269259798744047,
+              0.034995506685343125
+            ],
+            "button_min_z_position": [
+              0.1812018454074859,
+              -0.38994169235229487,
+              0.768799901008606
+            ],
+            "min_active_finger_to_button": 0.1469928774662219,
+            "closest_active_finger": [
+              0.051981404423713684,
+              -0.45068204402923584,
+              0.8077291250228882
+            ],
+            "closest_active_finger_button": [
+              0.1812294423580169,
+              -0.38994458317756653,
+              0.7729036808013916
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12924803793430323,
+              -0.06073746085166931,
+              0.03482544422149658
+            ],
+            "min_contact_pad_to_button": 0.021195732339561773,
+            "closest_contact_pad": [
+              0.1812018454074859,
+              -0.39019185875128864,
+              0.7899941569800516
+            ],
+            "closest_contact_pad_button": [
+              0.1812018454074859,
+              -0.38994169235229487,
+              0.768799901008606
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025016639899377857,
+              0.02119425597144564
+            ]
+          },
+          "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": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "724ab764a787bea1d496d281f4ee8acbac553f07a4f1c9c7e99c089f9554dd16",
+    "visual_seed": 7111944984542384665,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56fce886057d5ed3af1b57a6a4bae8645ccdb865
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_41_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38453740786913126,
+              0.21545107775880587,
+              1.1643851861967291
+            ],
+            "current_z": 1.1643851861967291,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3032786185773183,
+            "gripper_z": 1.15355477823512,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3794737095222887,
+              0.2103795757513842,
+              1.15355477823512
+            ],
+            "object_minus_gripper": [
+              0.00506369834684256,
+              0.00507150200742168,
+              0.010830407961609056
+            ],
+            "object_to_gripper_xy": 0.0071666710235016515,
+            "object_to_gripper_z": 0.010830407961609056,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38453740786913126,
+              0.1915457924427526,
+              1.1643851861967291
+            ],
+            "finger_b": [
+              0.3730102339211566,
+              0.21545107775880587,
+              1.1643851861967291
+            ],
+            "finger_midpoint": [
+              0.37877382089514394,
+              0.20349843510077925,
+              1.1643851861967291
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057635869739873224,
+              0.011952642658026619,
+              0.0
+            ],
+            "finger_gap": 0.02653937462090577,
+            "fingertip_max_gap": 0.09070669509015186,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013269687310452872,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643851861967291,
+            "object_top_z": 1.2142629567197025,
+            "finger_top_clearance": 0.049877770522973375,
+            "fingertip_min_top_clearance": 0.014963331156892011,
+            "object_projection_between_fingers": 0.8113467358404804,
+            "object_to_finger_line_xy": 0.010383077448141693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785334754507593,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6439298358848244,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3317467444596305,
+              -0.3320655016299381,
+              0.8515395591766128
+            ],
+            "target_position": [
+              0.32215850124266554,
+              -0.3345454205116943,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009903757148060787,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18849770935392887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395591766128,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568387323370329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542943502835075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15631132996588287,
+            "release_required_pad_clearance": 0.05271471751417538,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4829488462226069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007989168167114258,
+            "max_z_decrease": 0.007989168167114258,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035036298371077336,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007989168167114258,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021206277005791044,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007989168167114258,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007989191615486,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17785842716693875,
+              -0.39080688357353205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17785842716693875,
+              -0.39080688357353205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17797317484268618,
+              -0.38943736310663507,
+              0.8072680400555285
+            ],
+            "closest_button": [
+              0.17784661054611203,
+              -0.3908102214336394,
+              0.7722588777542114
+            ],
+            "closest_ee_minus_button": [
+              0.0001265642965741498,
+              0.0013728583270043448,
+              0.03500916230131712
+            ],
+            "button_min_z_position": [
+              0.17783953249454498,
+              -0.3908110857009887,
+              0.7688196897506714
+            ],
+            "min_active_finger_to_button": 0.14559532999226046,
+            "closest_active_finger": [
+              0.0499800369143486,
+              -0.4510810077190399,
+              0.8076920509338379
+            ],
+            "closest_active_finger_button": [
+              0.17787089943885798,
+              -0.39081177115440363,
+              0.7729135155677795
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12789086252450937,
+              -0.060269236564636286,
+              0.03477853536605835
+            ],
+            "min_contact_pad_to_button": 0.021206277005791044,
+            "closest_contact_pad": [
+              0.17783953249454498,
+              -0.3908183330947115,
+              0.7900259655180386
+            ],
+            "closest_contact_pad_button": [
+              0.17783953249454498,
+              -0.3908110857009887,
+              0.7688196897506714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.247393722764617e-06,
+              0.021206275767367222
+            ]
+          },
+          "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": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae3cf6e5406ad4521524e91d58f80fff7e8330bdc7224f113d144cb73f2804e2",
+    "visual_seed": 4945046731521489517,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47fe09ff8de26237288527d57d26ac73534fce87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_42_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37670462441731384,
+              0.21569058274801556,
+              1.1624159023141574
+            ],
+            "current_z": 1.1624159023141574,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3013092154854571,
+            "gripper_z": 1.1515831949152844,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3715326951745995,
+              0.21075253141987332,
+              1.1515831949152844
+            ],
+            "object_minus_gripper": [
+              0.005171929242714313,
+              0.0049380513281422345,
+              0.010832707398872987
+            ],
+            "object_to_gripper_xy": 0.00715074842313801,
+            "object_to_gripper_z": 0.010832707398872987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37670462441731384,
+              0.19130450150338016,
+              1.1624159023141574
+            ],
+            "finger_b": [
+              0.36589385471948255,
+              0.21569058274801556,
+              1.1624159023141574
+            ],
+            "finger_midpoint": [
+              0.37129923956839817,
+              0.20349754212569787,
+              1.1624159023141574
+            ],
+            "object_minus_finger_midpoint": [
+              0.005405384848915673,
+              0.012193040622317686,
+              0.0
+            ],
+            "finger_gap": 0.02667496391618001,
+            "fingertip_max_gap": 0.0909373922702629,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013337481958090005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624159023141574,
+            "object_top_z": 1.2123138799653552,
+            "finger_top_clearance": 0.049897977651197856,
+            "fingertip_min_top_clearance": 0.014969393295359389,
+            "object_projection_between_fingers": 0.8357499350068365,
+            "object_to_finger_line_xy": 0.009883136449472269,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796869613513145,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7183866647802002,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3321422776005006,
+              -0.33677588635940525,
+              0.8515396116654008
+            ],
+            "target_position": [
+              0.32458139600983704,
+              -0.3382105450350147,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00769578949449218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413095493361353,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396116654008,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523374579990601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726727424852047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531562419300716,
+            "release_required_pad_clearance": 0.05363363712426024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.27732777368422,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007891356945037842,
+            "max_z_decrease": 0.007891356945037842,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035057886126145237,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007891356945037842,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02117502561231808,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007891356945037842,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007891381147485423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1802813261747359,
+              -0.3944720029830932,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1802813261747359,
+              -0.3944720029830932,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1802553881439789,
+              -0.3944656685509091,
+              0.8076424987551515
+            ],
+            "closest_button": [
+              0.18027064204215992,
+              -0.39447480440139765,
+              0.7725846171379089
+            ],
+            "closest_ee_minus_button": [
+              -1.5253898181022407e-05,
+              9.135850488561914e-06,
+              0.03505788161724255
+            ],
+            "button_min_z_position": [
+              0.18026202917098988,
+              -0.3944751024246215,
+              0.7689175009727478
+            ],
+            "min_active_finger_to_button": 0.14623406536321878,
+            "closest_active_finger": [
+              0.05319231003522873,
+              -0.4580067992210388,
+              0.8105955123901367
+            ],
+            "closest_active_finger_button": [
+              0.18028654158115376,
+              -0.3944761455059051,
+              0.77602219581604
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12709423154592503,
+              -0.06353065371513372,
+              0.03457331657409668
+            ],
+            "min_contact_pad_to_button": 0.02117502561231808,
+            "closest_contact_pad": [
+              0.18026202917098988,
+              -0.39562683032651624,
+              0.7900611816485981
+            ],
+            "closest_contact_pad_button": [
+              0.18026202917098988,
+              -0.3944751024246215,
+              0.7689175009727478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011517279018947169,
+              0.021143680675850263
+            ]
+          },
+          "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": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c73a3fabe739e147d4df43fa6014fe7506693b4c82798b8046227b2ce75b700",
+    "visual_seed": 1820467719497593819,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78805b29e6744f922d08785f6de7f980a48c317f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_43_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38005227748730963,
+              0.21750654762363383,
+              1.1642612995546364
+            ],
+            "current_z": 1.1642612995546364,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30315473193522546,
+            "gripper_z": 1.153404051170253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3746692416767276,
+              0.21238056721125478,
+              1.153404051170253
+            ],
+            "object_minus_gripper": [
+              0.005383035810582026,
+              0.00512598041237905,
+              0.0108572483843834
+            ],
+            "object_to_gripper_xy": 0.007433219337951907,
+            "object_to_gripper_z": 0.0108572483843834,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38005227748730963,
+              0.1930994784053265,
+              1.1642612995546364
+            ],
+            "finger_b": [
+              0.3687985559091753,
+              0.21750654762363383,
+              1.1642612995546364
+            ],
+            "finger_midpoint": [
+              0.3744254166982425,
+              0.20530301301448017,
+              1.1642612995546364
+            ],
+            "object_minus_finger_midpoint": [
+              0.005626860789067156,
+              0.01220353460915366,
+              0.0
+            ],
+            "finger_gap": 0.026876593481790258,
+            "fingertip_max_gap": 0.09106204985114544,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013438296740895129,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642612995546364,
+            "object_top_z": 1.2142096702599576,
+            "finger_top_clearance": 0.04994837070532121,
+            "fingertip_min_top_clearance": 0.014984511211596363,
+            "object_projection_between_fingers": 0.8246749838227825,
+            "object_to_finger_line_xy": 0.010219686572525668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803102492557272,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7874076844489584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33570183142181265,
+              -0.3357706610237855,
+              0.8515396063278811
+            ],
+            "target_position": [
+              0.3278095999329153,
+              -0.33745910227717496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008070821007833719,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18612306201818346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396063278811,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517837100252492,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559462573211106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15513937829512903,
+            "release_required_pad_clearance": 0.05279731286605553,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6416321510053151,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00786888599395752,
+            "max_z_decrease": 0.00786888599395752,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035069574526431155,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00786888599395752,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021135756651994093,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00786888599395752,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007868905319699061,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18350952863693237,
+              -0.3937205672264099,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18350952863693237,
+              -0.3937205672264099,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1817956498642102,
+              -0.3927201100114903,
+              0.8076552685853363
+            ],
+            "closest_button": [
+              0.18349935114383698,
+              -0.39372363686561584,
+              0.7726414799690247
+            ],
+            "closest_ee_minus_button": [
+              -0.001703701279626768,
+              0.001003526854125525,
+              0.03501378861631166
+            ],
+            "button_min_z_position": [
+              0.18349237740039825,
+              -0.39372372627258295,
+              0.7689399719238281
+            ],
+            "min_active_finger_to_button": 0.14732767987603818,
+            "closest_active_finger": [
+              0.054500922560691833,
+              -0.455830454826355,
+              0.8083831071853638
+            ],
+            "closest_active_finger_button": [
+              0.18351854383945465,
+              -0.39372682571411133,
+              0.7736982703208923
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12901762127876282,
+              -0.06210362911224365,
+              0.034684836864471436
+            ],
+            "min_contact_pad_to_button": 0.021135756651994093,
+            "closest_contact_pad": [
+              0.18349237740039825,
+              -0.39394154300275636,
+              0.7900746061795793
+            ],
+            "closest_contact_pad_button": [
+              0.18349237740039825,
+              -0.39372372627258295,
+              0.7689399719238281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021781673017340353,
+              0.021134634255751128
+            ]
+          },
+          "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": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9dae54d548ed0023b21c9358464128eccfbd5acf288fbf122fc80e5b122a29a",
+    "visual_seed": 3315638405875107667,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc5c770e6aff6b22c56493317414863a1ec494a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_44_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3806654338771075,
+              0.21752197156068157,
+              1.1645978687970358
+            ],
+            "current_z": 1.1645978687970358,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3034913011776248,
+            "gripper_z": 1.1537558766928753,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3752572569681999,
+              0.21239003483088115,
+              1.1537558766928753
+            ],
+            "object_minus_gripper": [
+              0.005408176908907603,
+              0.005131936729800418,
+              0.01084199210416048
+            ],
+            "object_to_gripper_xy": 0.0074555450556425444,
+            "object_to_gripper_z": 0.01084199210416048,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3806654338771075,
+              0.19309452592892942,
+              1.1645978687970358
+            ],
+            "finger_b": [
+              0.3694039949216893,
+              0.21752197156068157,
+              1.1645978687970358
+            ],
+            "finger_midpoint": [
+              0.3750347143993984,
+              0.2053082487448055,
+              1.1645978687970358
+            ],
+            "object_minus_finger_midpoint": [
+              0.005630719477709101,
+              0.012213722815876071,
+              0.0
+            ],
+            "finger_gap": 0.026898329082655253,
+            "fingertip_max_gap": 0.09090351581421027,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013449164541327626,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645978687970358,
+            "object_top_z": 1.2145107073432873,
+            "finger_top_clearance": 0.0499128385462515,
+            "fingertip_min_top_clearance": 0.014973851563875417,
+            "object_projection_between_fingers": 0.8247180609872202,
+            "object_to_finger_line_xy": 0.010226961941519183,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795175790710514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7603105124369023,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 379,
+            "max_stable_success_frames": 379,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3337814789671741,
+              -0.3361812086571865,
+              0.8515395650635095
+            ],
+            "target_position": [
+              0.32482763576056456,
+              -0.3384666935617693,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009240927952193079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18780957999320758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395650635095,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558826175849923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584193338004785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15587068436524223,
+            "release_required_pad_clearance": 0.05292096669002393,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8802607655003483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008204996585845947,
+            "max_z_decrease": 0.008204996585845947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500099131421614,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008204996585845947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021010042371160935,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008204996585845947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008205003990146977,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18052756786346436,
+              -0.3947281539440155,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18052756786346436,
+              -0.3947281539440155,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17986113639009002,
+              -0.3944797857865312,
+              0.8035975980746357
+            ],
+            "closest_button": [
+              0.1805326044559479,
+              -0.3947183489799499,
+              0.7686038613319397
+            ],
+            "closest_ee_minus_button": [
+              -0.0006714680658578831,
+              0.00023856319341869492,
+              0.03499373674269601
+            ],
+            "button_min_z_position": [
+              0.1805326044559479,
+              -0.3947183489799499,
+              0.7686038613319397
+            ],
+            "min_active_finger_to_button": 0.1462752556396611,
+            "closest_active_finger": [
+              0.053930893540382385,
+              -0.4594275951385498,
+              0.8104407787322998
+            ],
+            "closest_active_finger_button": [
+              0.1805315613746643,
+              -0.39473223686218256,
+              0.776042640209198
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12660066783428192,
+              -0.06469535827636724,
+              0.03439813852310181
+            ],
+            "min_contact_pad_to_button": 0.021010042371160935,
+            "closest_contact_pad": [
+              0.1805326044559479,
+              -0.3954610298722645,
+              0.7896007731413027
+            ],
+            "closest_contact_pad_button": [
+              0.1805326044559479,
+              -0.3947183489799499,
+              0.7686038613319397
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007426808923146067,
+              0.020996911809363028
+            ]
+          },
+          "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": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98d9b06ee5d9a2688311bbd1205a7243500a22729e430bdbd6ccbf6423ccd10a",
+    "visual_seed": 4602764249989750275,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43cfdeaed8448ef7ddb74c7b6b337ab156172290
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_45_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37776760597397335,
+              0.21317395055778968,
+              1.1641045331664461
+            ],
+            "current_z": 1.1641045331664461,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.3029980251516804,
+            "gripper_z": 1.1532935333208076,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3726756088076236,
+              0.20815282386189,
+              1.1532935333208076
+            ],
+            "object_minus_gripper": [
+              0.0050919971663497265,
+              0.005021126695899686,
+              0.010810999845638491
+            ],
+            "object_to_gripper_xy": 0.00715123405003571,
+            "object_to_gripper_z": 0.010810999845638491,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37776760597397335,
+              0.18916202511519212,
+              1.1641045331664461
+            ],
+            "finger_b": [
+              0.3664289290742103,
+              0.21317395055778968,
+              1.1641045331664461
+            ],
+            "finger_midpoint": [
+              0.3720982675240918,
+              0.2011679878364909,
+              1.1641045331664461
+            ],
+            "object_minus_finger_midpoint": [
+              0.005669338449881545,
+              0.01200596272129878,
+              0.0
+            ],
+            "finger_gap": 0.026554437619691437,
+            "fingertip_max_gap": 0.09074585552753958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327721880984573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641045331664461,
+            "object_top_z": 1.2139984832181216,
+            "finger_top_clearance": 0.04989395005167552,
+            "fingertip_min_top_clearance": 0.014968185015502688,
+            "object_projection_between_fingers": 0.8176731857344784,
+            "object_to_finger_line_xy": 0.010253030707489607,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787292776376979,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5604327435977031,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3350846315109623,
+              -0.338046448066075,
+              0.8515395769825688
+            ],
+            "target_position": [
+              0.3256206409803362,
+              -0.34031592071498123,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009732297923302267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18380426265813063,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395769825688,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528925145872273,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593629533454371,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526985334556063,
+            "release_required_pad_clearance": 0.052968147667271856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9715555445367384,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008125722408294678,
+            "max_z_decrease": 0.008125722408294678,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502568045524564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008125722408294678,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021085315221768448,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008125722408294678,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00812572877506353,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18132056295871732,
+              -0.396577388048172,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18132056295871732,
+              -0.396577388048172,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18212516627321612,
+              -0.3956630388833946,
+              0.8036878523534655
+            ],
+            "closest_button": [
+              0.18131877481937408,
+              -0.39656737446784973,
+              0.768683135509491
+            ],
+            "closest_ee_minus_button": [
+              0.0008063914538420369,
+              0.0009043355844551293,
+              0.03500471684397455
+            ],
+            "button_min_z_position": [
+              0.18131877481937408,
+              -0.39656737446784973,
+              0.768683135509491
+            ],
+            "min_active_finger_to_button": 0.14475882350457264,
+            "closest_active_finger": [
+              0.055733174085617065,
+              -0.4597117602825165,
+              0.8109541535377502
+            ],
+            "closest_active_finger_button": [
+              0.18132510781288144,
+              -0.3965798318386078,
+              0.7763688564300537
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12559193372726438,
+              -0.06313192844390869,
+              0.03458529710769653
+            ],
+            "min_contact_pad_to_button": 0.021085315221768448,
+            "closest_contact_pad": [
+              0.18131877481937408,
+              -0.39673562766512527,
+              0.789767779420711
+            ],
+            "closest_contact_pad_button": [
+              0.18131877481937408,
+              -0.39656737446784973,
+              0.768683135509491
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00016825319727553634,
+              0.021084643911220002
+            ]
+          },
+          "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": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3cbe746b5cf9dd1e53f72bf5a154cfbc5e6e7c48e2665ed58c5470943bb148d",
+    "visual_seed": 4310896424275457630,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2242e88a4a826c677458cf7ccab9d9da831d76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_46_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38063716964270194,
+              0.21590742217832318,
+              1.1650271869450475
+            ],
+            "current_z": 1.1650271869450475,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30392055972099186,
+            "gripper_z": 1.1541627800881196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37559112429264707,
+              0.21103742430084696,
+              1.1541627800881196
+            ],
+            "object_minus_gripper": [
+              0.005046045350054873,
+              0.004869997877476218,
+              0.01086440685692791
+            ],
+            "object_to_gripper_xy": 0.007012806357046605,
+            "object_to_gripper_z": 0.01086440685692791,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38063716964270194,
+              0.19180781358544788,
+              1.1650271869450475
+            ],
+            "finger_b": [
+              0.36967095399131883,
+              0.21590742217832318,
+              1.1650271869450475
+            ],
+            "finger_midpoint": [
+              0.3751540618170104,
+              0.20385761788188553,
+              1.1650271869450475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005483107825691558,
+              0.01204980429643765,
+              0.0
+            ],
+            "finger_gap": 0.026477330304289157,
+            "fingertip_max_gap": 0.09069132946708916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013238665152144578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650271869450475,
+            "object_top_z": 1.2148884608742831,
+            "finger_top_clearance": 0.04986127392923567,
+            "fingertip_min_top_clearance": 0.0149583821787707,
+            "object_projection_between_fingers": 0.8284600901298431,
+            "object_to_finger_line_xy": 0.009981425691569228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784566473354458,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6258475999623768,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3304065085130887,
+              -0.3378629093575847,
+              0.8515395684690328
+            ],
+            "target_position": [
+              0.3208359887942944,
+              -0.3400341921603015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009813731028370628,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845106981879903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395684690328,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547454381473302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544926835798082,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15282574637790983,
+            "release_required_pad_clearance": 0.05272463417899041,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5020199351311048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008170485496520996,
+            "max_z_decrease": 0.008170485496520996,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499927047445537,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008170485496520996,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102272985667403,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008170485496520996,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008170519286153278,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17653591930866236,
+              -0.3962956368923187,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17653591930866236,
+              -0.3962956368923187,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17639826681025286,
+              -0.3957082834198895,
+              0.8036326188968498
+            ],
+            "closest_button": [
+              0.1765538901090622,
+              -0.3962804973125457,
+              0.7686383724212646
+            ],
+            "closest_ee_minus_button": [
+              -0.000155623298809332,
+              0.0005722138926562148,
+              0.03499424647558513
+            ],
+            "button_min_z_position": [
+              0.1765538901090622,
+              -0.3962804973125457,
+              0.7686383724212646
+            ],
+            "min_active_finger_to_button": 0.14567199453894783,
+            "closest_active_finger": [
+              0.049829594790935516,
+              -0.4593772292137146,
+              0.8110697269439697
+            ],
+            "closest_active_finger_button": [
+              0.1765401810407638,
+              -0.39629760384559626,
+              0.776635468006134
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12671058624982828,
+              -0.06307962536811834,
+              0.03443425893783569
+            ],
+            "min_contact_pad_to_button": 0.02102272985667403,
+            "closest_contact_pad": [
+              0.1765538901090622,
+              -0.39681896392971205,
+              0.7896542051273197
+            ],
+            "closest_contact_pad_button": [
+              0.1765538901090622,
+              -0.3962804973125457,
+              0.7686383724212646
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005384666171663333,
+              0.021015832706055004
+            ]
+          },
+          "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": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c70959b629bf26cbc5fbb22fc076cc1ad4bc4e759e1707050b0d959136f01d2",
+    "visual_seed": 2282511723471993456,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1f60ba9f50f0d86a84309b255c4fda8c2eb670a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_47_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38093463878426287,
+              0.2145222332929523,
+              1.1626852574162396
+            ],
+            "current_z": 1.1626852574162396,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30157880900611855,
+            "gripper_z": 1.1518549402705602,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37556792404716,
+              0.20946543815095484,
+              1.1518549402705602
+            ],
+            "object_minus_gripper": [
+              0.005366714737102873,
+              0.005056795141997472,
+              0.010830317145679391
+            ],
+            "object_to_gripper_xy": 0.007373791709667856,
+            "object_to_gripper_z": 0.010830317145679391,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38093463878426287,
+              0.1900405196983733,
+              1.1626852574162396
+            ],
+            "finger_b": [
+              0.3699020613336254,
+              0.2145222332929523,
+              1.1626852574162396
+            ],
+            "finger_midpoint": [
+              0.37541835005894414,
+              0.2022813764956628,
+              1.1626852574162396
+            ],
+            "object_minus_finger_midpoint": [
+              0.00551628872531873,
+              0.012240856797289507,
+              0.0
+            ],
+            "finger_gap": 0.02685278506470621,
+            "fingertip_max_gap": 0.09105796977404215,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013426392532353105,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626852574162396,
+            "object_top_z": 1.212602346033384,
+            "finger_top_clearance": 0.04991708861714428,
+            "fingertip_min_top_clearance": 0.014975126585143283,
+            "object_projection_between_fingers": 0.8311988898351397,
+            "object_to_finger_line_xy": 0.010058412961846393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802898488702108,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7877253713751106,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33261780454052886,
+              -0.3369053200391436,
+              0.8515395679631256
+            ],
+            "target_position": [
+              0.3248398245134352,
+              -0.33853572836435786,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007947024890410007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837434226036391,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395679631256,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758338108789912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08781782402052678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15122441767948683,
+            "release_required_pad_clearance": 0.05390891201026339,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8277703837227484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008034110069274902,
+            "max_z_decrease": 0.008034110069274902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511377402984297,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008034110069274902,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021243088618808185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008034110069274902,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008034125992684858,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18053975701332087,
+              -0.3947971761226654,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18053975701332087,
+              -0.3947971761226654,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.179770423484404,
+              -0.3964819549845083,
+              0.8038400493278102
+            ],
+            "closest_button": [
+              0.18052381277084348,
+              -0.3947984576225281,
+              0.7687747478485107
+            ],
+            "closest_ee_minus_button": [
+              -0.0007533892864394764,
+              -0.0016834973619802018,
+              0.03506530147929943
+            ],
+            "button_min_z_position": [
+              0.18052381277084348,
+              -0.3947984576225281,
+              0.7687747478485107
+            ],
+            "min_active_finger_to_button": 0.1463866953336274,
+            "closest_active_finger": [
+              0.03883625566959381,
+              -0.3822154104709625,
+              0.8103959560394287
+            ],
+            "closest_active_finger_button": [
+              0.18054296076297754,
+              -0.3948010504245758,
+              0.7759013772010803
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14170670509338373,
+              0.012585639953613281,
+              0.03449457883834839
+            ],
+            "min_contact_pad_to_button": 0.021243088618808185,
+            "closest_contact_pad": [
+              0.18052381277084348,
+              -0.3974936591176363,
+              0.7898461669503962
+            ],
+            "closest_contact_pad_button": [
+              0.18052381277084348,
+              -0.3947984576225281,
+              0.7687747478485107
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026952014951082126,
+              0.02107141910188548
+            ]
+          },
+          "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": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c318e09b75428857463e04883a42fca52fd6d4680506244260c12ca2acf8494b",
+    "visual_seed": 1242263510834523368,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9019f1fd272ea4f501dddfecda92e01393e8e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_48_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3802130142354068,
+              0.20871507103320794,
+              1.163600959519012
+            ],
+            "current_z": 1.163600959519012,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3024942726903119,
+            "gripper_z": 1.1527788195714477,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3751054041259151,
+              0.20383513332802103,
+              1.1527788195714477
+            ],
+            "object_minus_gripper": [
+              0.005107610109491734,
+              0.00487993770518691,
+              0.010822139947564313
+            ],
+            "object_to_gripper_xy": 0.007064097467977565,
+            "object_to_gripper_z": 0.010822139947564313,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3802130142354068,
+              0.18458567679706425,
+              1.163600959519012
+            ],
+            "finger_b": [
+              0.3692176197825549,
+              0.20871507103320794,
+              1.163600959519012
+            ],
+            "finger_midpoint": [
+              0.37471531700898086,
+              0.1966503739151361,
+              1.163600959519012
+            ],
+            "object_minus_finger_midpoint": [
+              0.005497697226425957,
+              0.012064697118071843,
+              0.0
+            ],
+            "finger_gap": 0.026516530040279606,
+            "fingertip_max_gap": 0.090756089084741,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013258265020139803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163600959519012,
+            "object_top_z": 1.2134783296115994,
+            "finger_top_clearance": 0.049877370092587414,
+            "fingertip_min_top_clearance": 0.014963211027776223,
+            "object_projection_between_fingers": 0.8280555172910139,
+            "object_to_finger_line_xy": 0.010005540209512793,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047878044542370504,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5647926690118924,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33659315419135083,
+              -0.3326963543134758,
+              0.8515395794000808
+            ],
+            "target_position": [
+              0.3275629431141919,
+              -0.3347989278630955,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009271759683555482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18679903988017313,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395794000808,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524043373942173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853998427705862,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15568732598425483,
+            "release_required_pad_clearance": 0.0526999213852931,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.45456388399618536,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007816433906555176,
+            "max_z_decrease": 0.007816433906555176,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501927491822697,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007816433906555176,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021273863469590256,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007816433906555176,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007816452839101937,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18326286971569059,
+              -0.39106038212776184,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18326286971569059,
+              -0.39106038212776184,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18257672877597864,
+              -0.39192498296367445,
+              0.8054331747179582
+            ],
+            "closest_button": [
+              0.18324714899063105,
+              -0.3910633027553558,
+              0.7704309225082397
+            ],
+            "closest_ee_minus_button": [
+              -0.0006704202146524119,
+              -0.0008616802083186714,
+              0.03500225220971842
+            ],
+            "button_min_z_position": [
+              0.18324594199657437,
+              -0.3910634517669678,
+              0.7689924240112305
+            ],
+            "min_active_finger_to_button": 0.14661853036584055,
+            "closest_active_finger": [
+              0.04167294502258301,
+              -0.3758235573768616,
+              0.8080714344978333
+            ],
+            "closest_active_finger_button": [
+              0.18327455222606656,
+              -0.3910668194293975,
+              0.7732343673706055
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14160160720348355,
+              0.015243262052535955,
+              0.03483706712722778
+            ],
+            "min_contact_pad_to_button": 0.021273863469590256,
+            "closest_contact_pad": [
+              0.18324594199657437,
+              -0.3931322873076422,
+              0.7901654537053581
+            ],
+            "closest_contact_pad_button": [
+              0.18324594199657437,
+              -0.3910634517669678,
+              0.7689924240112305
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020688355406744408,
+              0.0211730296941276
+            ]
+          },
+          "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": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c6b13451297e4fa097b66ca009642f333d6d836a06febe9bae7f56c1658888d",
+    "visual_seed": 3122241884120309753,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54ded19b62b8a55809fc0351bc41c0960ae70577
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_49_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38470486318556185,
+              0.21621496470763812,
+              1.1630269183175885
+            ],
+            "current_z": 1.1630269183175885,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3019204103028226,
+            "gripper_z": 1.1521651061105638,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37947732782538,
+              0.21125316675927872,
+              1.1521651061105638
+            ],
+            "object_minus_gripper": [
+              0.005227535360181834,
+              0.004961797948359409,
+              0.010861812207024757
+            ],
+            "object_to_gripper_xy": 0.007207396535663558,
+            "object_to_gripper_z": 0.010861812207024757,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38470486318556185,
+              0.1920047193136298,
+              1.1630269183175885
+            ],
+            "finger_b": [
+              0.3735857416768665,
+              0.21621496470763812,
+              1.1630269183175885
+            ],
+            "finger_midpoint": [
+              0.37914530243121414,
+              0.20410984201063398,
+              1.1630269183175885
+            ],
+            "object_minus_finger_midpoint": [
+              0.005559560754347714,
+              0.012105122697004145,
+              0.0
+            ],
+            "finger_gap": 0.026641524828043026,
+            "fingertip_max_gap": 0.09076173036953664,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013320762414021511,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630269183175885,
+            "object_top_z": 1.2128921912389798,
+            "finger_top_clearance": 0.04986527292139131,
+            "fingertip_min_top_clearance": 0.014959581876417426,
+            "object_projection_between_fingers": 0.8258101696235515,
+            "object_to_finger_line_xy": 0.010104401382009237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788086518476832,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6660607171183769,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.329673943461356,
+              -0.3395871377508525,
+              0.8515396016662906
+            ],
+            "target_position": [
+              0.32010093888281665,
+              -0.34174679668977237,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009813589730225707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18535191683609,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396016662906,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529469124936775,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504854469495736,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15423621654721442,
+            "release_required_pad_clearance": 0.05252427234747868,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869402685936814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008256614208221436,
+            "max_z_decrease": 0.008256614208221436,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500201341027745,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008256614208221436,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020982584388438225,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008256614208221436,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008256627122320654,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17580085992813105,
+              -0.3980082571506499,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17580085992813105,
+              -0.3980082571506499,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17612634082174974,
+              -0.3978011441074275,
+              0.8036165469211496
+            ],
+            "closest_button": [
+              0.1758031398057937,
+              -0.3979940116405486,
+              0.7686165571212769
+            ],
+            "closest_ee_minus_button": [
+              0.00032320101595603723,
+              0.00019286753312108829,
+              0.03499998979987273
+            ],
+            "button_min_z_position": [
+              0.17579792439937586,
+              -0.3979939520359038,
+              0.7685522437095642
+            ],
+            "min_active_finger_to_button": 0.1454036614227878,
+            "closest_active_finger": [
+              0.05002245306968689,
+              -0.46237367391586304,
+              0.8109865784645081
+            ],
+            "closest_active_finger_button": [
+              0.17580519616603846,
+              -0.39801037311553944,
+              0.7766603231430054
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12578274309635157,
+              -0.0643633008003236,
+              0.034326255321502686
+            ],
+            "min_contact_pad_to_button": 0.020982584388438225,
+            "closest_contact_pad": [
+              0.17579792439937586,
+              -0.39881491578134337,
+              0.7895187614496804
+            ],
+            "closest_contact_pad_button": [
+              0.17579792439937586,
+              -0.3979939520359038,
+              0.7685522437095642
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008209637454395513,
+              0.020966517740116153
+            ]
+          },
+          "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": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "029125889afad1c48c43cb5415d6f20728b0ffddd43e2de5c985344f0adf79f0",
+    "visual_seed": 2483851548747115344,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0462aedbcbe5d781ffea049911209d03fff8b1ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_4_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3798301551586066,
+              0.21293086751456844,
+              1.1627742218594952
+            ],
+            "current_z": 1.1627742218594952,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3016675350307949,
+            "gripper_z": 1.1519780447591415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37466614249736485,
+              0.20779640576881536,
+              1.1519780447591415
+            ],
+            "object_minus_gripper": [
+              0.005164012661241724,
+              0.005134461745753077,
+              0.010796177100353743
+            ],
+            "object_to_gripper_xy": 0.007282151068473282,
+            "object_to_gripper_z": 0.010796177100353743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3798301551586066,
+              0.18897457696209305,
+              1.1627742218594952
+            ],
+            "finger_b": [
+              0.3681874763739759,
+              0.21293086751456844,
+              1.1627742218594952
+            ],
+            "finger_midpoint": [
+              0.37400881576629125,
+              0.20095272223833074,
+              1.1627742218594952
+            ],
+            "object_minus_finger_midpoint": [
+              0.005821339392315328,
+              0.011978145276237695,
+              0.0
+            ],
+            "finger_gap": 0.026635611994409107,
+            "fingertip_max_gap": 0.09095874858410627,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013317805997204554,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627742218594952,
+            "object_top_z": 1.2126798385698294,
+            "finger_top_clearance": 0.04990561671033422,
+            "fingertip_min_top_clearance": 0.014971685013100266,
+            "object_projection_between_fingers": 0.8089352934264626,
+            "object_to_finger_line_xy": 0.010471521954603403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797937429205314,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7396483628149318,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33376458452146684,
+              -0.34059534435846284,
+              0.8515395824782869
+            ],
+            "target_position": [
+              0.32521016202083997,
+              -0.3425803134152492,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008781699520914545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852590762289368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395824782869,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755460943420632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599683655656597,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532955285182142,
+            "release_required_pad_clearance": 0.052998418278282985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.030205791805216,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008100152015686035,
+            "max_z_decrease": 0.008100152015686035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504068704644695,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008100152015686035,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021210011130345152,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008100152015686035,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00810016775088162,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18091008067131042,
+              -0.39884176850318903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18091008067131042,
+              -0.39884176850318903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18116912161651247,
+              -0.3971286442105218,
+              0.8037064514777756
+            ],
+            "closest_button": [
+              0.18089413642883298,
+              -0.3988409340381622,
+              0.7687087059020996
+            ],
+            "closest_ee_minus_button": [
+              0.00027498518767948843,
+              0.0017122898276403786,
+              0.03499774557567603
+            ],
+            "button_min_z_position": [
+              0.18089413642883298,
+              -0.3988409340381622,
+              0.7687087059020996
+            ],
+            "min_active_finger_to_button": 0.1449866620180305,
+            "closest_active_finger": [
+              0.053644463419914246,
+              -0.45889127254486084,
+              0.8078758716583252
+            ],
+            "closest_active_finger_button": [
+              0.18092346191406244,
+              -0.39884564280509943,
+              0.7730088233947754
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272789984941482,
+              -0.06004562973976141,
+              0.034867048263549805
+            ],
+            "min_contact_pad_to_button": 0.021210011130345152,
+            "closest_contact_pad": [
+              0.18089413642883298,
+              -0.3988409340381622,
+              0.7899187170324448
+            ],
+            "closest_contact_pad_button": [
+              0.18089413642883298,
+              -0.3988409340381622,
+              0.7687087059020996
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021210011130345152
+            ]
+          },
+          "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": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c3381825d1019f947c6c8a5b49351cb83d1e7afad0fab17921c4ad2fb20e257",
+    "visual_seed": 4976955573141145782,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c816c5f2bdab78c92a84358a242d23a0ff1d259c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_50_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3802971867519707,
+              0.209305794744571,
+              1.1645209907011387
+            ],
+            "current_z": 1.1645209907011387,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3034144826863726,
+            "gripper_z": 1.1537135994025618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37526716387336345,
+              0.20437339026787157,
+              1.1537135994025618
+            ],
+            "object_minus_gripper": [
+              0.005030022878607265,
+              0.004932404476699431,
+              0.010807391298576885
+            ],
+            "object_to_gripper_xy": 0.007044838116030567,
+            "object_to_gripper_z": 0.010807391298576885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3802971867519707,
+              0.18530563506536069,
+              1.1645209907011387
+            ],
+            "finger_b": [
+              0.36913086111092636,
+              0.209305794744571,
+              1.1645209907011387
+            ],
+            "finger_midpoint": [
+              0.37471402393144854,
+              0.19730571490496585,
+              1.1645209907011387
+            ],
+            "object_minus_finger_midpoint": [
+              0.005583162820522181,
+              0.01200007983960516,
+              0.0
+            ],
+            "finger_gap": 0.026470634539984824,
+            "fingertip_max_gap": 0.0907481919517795,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013235317269992412,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645209907011387,
+            "object_top_z": 1.2143977145961549,
+            "finger_top_clearance": 0.049876723895016184,
+            "fingertip_min_top_clearance": 0.014963017168504854,
+            "object_projection_between_fingers": 0.8220525070819384,
+            "object_to_finger_line_xy": 0.01012418489667527,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787409597588975,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5545754184605761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32987346591727223,
+              -0.3407468228302353,
+              0.8515395819944279
+            ],
+            "target_position": [
+              0.32055399112966226,
+              -0.3429300756602114,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009571792059823314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862588054833081,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395819944279,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751359261156025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08668812629443727,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15541106256977796,
+            "release_required_pad_clearance": 0.05334406314721864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7049735094343574,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008229613304138184,
+            "max_z_decrease": 0.008229613304138184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035012483571529696,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008229613304138184,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020998563863826498,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008229613304138184,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00822967795785281,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1762539148330688,
+              -0.3991915285587311,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1762539148330688,
+              -0.3991915285587311,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1747649740361199,
+              -0.3997670663225574,
+              0.8036211746135559
+            ],
+            "closest_button": [
+              0.17627866566181177,
+              -0.39917612075805664,
+              0.7686464190483093
+            ],
+            "closest_ee_minus_button": [
+              -0.0015136916256918709,
+              -0.0005909455645007333,
+              0.03497475556524654
+            ],
+            "button_min_z_position": [
+              0.17628185451030726,
+              -0.39917469024658203,
+              0.7685792446136475
+            ],
+            "min_active_finger_to_button": 0.14715668363474302,
+            "closest_active_finger": [
+              0.03385337442159653,
+              -0.3852241039276123,
+              0.810977041721344
+            ],
+            "closest_active_finger_button": [
+              0.17625519633293146,
+              -0.39919513463974,
+              0.7766023278236389
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14240182191133494,
+              0.013971030712127686,
+              0.03437471389770508
+            ],
+            "min_contact_pad_to_button": 0.020998563863826498,
+            "closest_contact_pad": [
+              0.17628185451030726,
+              -0.4008020582962231,
+              0.7895146537946071
+            ],
+            "closest_contact_pad_button": [
+              0.17628185451030726,
+              -0.39917469024658203,
+              0.7685792446136475
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001627368049641087,
+              0.020935409180959597
+            ]
+          },
+          "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": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7fae92cb4653e87a7e873b924abc95d095e660c1c479c086aae604084720048d",
+    "visual_seed": 5605742873875954953,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d85824b9cf62f06a87b6bca4ccdfa68bc7e3489
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_51_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38131144956518587,
+              0.21169695745486317,
+              1.1659564063978056
+            ],
+            "current_z": 1.1659564063978056,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30484989838303966,
+            "gripper_z": 1.155130796104604,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37627415211698173,
+              0.20677627519113917,
+              1.155130796104604
+            ],
+            "object_minus_gripper": [
+              0.005037297448204137,
+              0.004920682263723997,
+              0.010825610293201615
+            ],
+            "object_to_gripper_xy": 0.007041837794369579,
+            "object_to_gripper_z": 0.010825610293201615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38131144956518587,
+              0.18767950115386858,
+              1.1659564063978056
+            ],
+            "finger_b": [
+              0.37017086638132624,
+              0.21169695745486317,
+              1.1659564063978056
+            ],
+            "finger_midpoint": [
+              0.375741157973256,
+              0.19968822930436586,
+              1.1659564063978056
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055702915919298435,
+              0.012008728150497305,
+              0.0
+            ],
+            "finger_gap": 0.026475475460257185,
+            "fingertip_max_gap": 0.09068792286834756,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013237737730128617,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659564063978056,
+            "object_top_z": 1.2158162354793363,
+            "finger_top_clearance": 0.04985982908153064,
+            "fingertip_min_top_clearance": 0.014957948724459158,
+            "object_projection_between_fingers": 0.822936797380672,
+            "object_to_finger_line_xy": 0.010106276285296397,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047843961434173785,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6709661921021265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3299162951351294,
+              -0.3374258390958975,
+              0.8515395748261013
+            ],
+            "target_position": [
+              0.3205884076535139,
+              -0.3396978571826637,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009600601598664113,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864622388385414,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395748261013,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550756962212624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521132189960788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547733610575311,
+            "release_required_pad_clearance": 0.05260566094980394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2741122214840638,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008166134357452393,
+            "max_z_decrease": 0.008166134357452393,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502470694753065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008166134357452393,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02129569699843023,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008166134357452393,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008166142979480715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1762883365154266,
+              -0.3959593176841736,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1762883365154266,
+              -0.3959593176841736,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1752697724787561,
+              -0.3973791829670469,
+              0.8036239679981785
+            ],
+            "closest_button": [
+              0.1762772053480148,
+              -0.395955204963684,
+              0.7686427235603333
+            ],
+            "closest_ee_minus_button": [
+              -0.0010074328692586954,
+              -0.001423978003362858,
+              0.03498124443784523
+            ],
+            "button_min_z_position": [
+              0.1762772053480148,
+              -0.395955204963684,
+              0.7686427235603333
+            ],
+            "min_active_finger_to_button": 0.14668204615721,
+            "closest_active_finger": [
+              0.03475763648748398,
+              -0.3793821334838867,
+              0.8075390458106995
+            ],
+            "closest_active_finger_button": [
+              0.17629629373550412,
+              -0.395965576171875,
+              0.7727910876274109
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14153865724802014,
+              0.01658344268798828,
+              0.034747958183288574
+            ],
+            "min_contact_pad_to_button": 0.02129569699843023,
+            "closest_contact_pad": [
+              0.1762772053480148,
+              -0.39873039963119355,
+              0.7897568185020156
+            ],
+            "closest_contact_pad_button": [
+              0.1762772053480148,
+              -0.395955204963684,
+              0.7686427235603333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027751946675095285,
+              0.02111409494168237
+            ]
+          },
+          "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": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12096beda3fe59923bec8bf48d665978d0570deb0eda46e376891c3b651a279f",
+    "visual_seed": 7475248220649174288,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..149e545c5dddbcfe474b9d1057deaeac679c1d25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_52_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3855093818812603,
+              0.21587509752224596,
+              1.16398009891439
+            ],
+            "current_z": 1.16398009891439,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30287359089962385,
+            "gripper_z": 1.1531533107500531,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3803602276101387,
+              0.21091125274098527,
+              1.1531533107500531
+            ],
+            "object_minus_gripper": [
+              0.005149154271121614,
+              0.00496384478126069,
+              0.010826788164336909
+            ],
+            "object_to_gripper_xy": 0.007152170629973739,
+            "object_to_gripper_z": 0.010826788164336909,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3855093818812603,
+              0.1917415613593553,
+              1.16398009891439
+            ],
+            "finger_b": [
+              0.3743550910088287,
+              0.21587509752224596,
+              1.16398009891439
+            ],
+            "finger_midpoint": [
+              0.3799322364450445,
+              0.20380832944080063,
+              1.16398009891439
+            ],
+            "object_minus_finger_midpoint": [
+              0.005577145436215847,
+              0.012066768081445328,
+              0.0
+            ],
+            "finger_gap": 0.026586571283118903,
+            "fingertip_max_gap": 0.09071395672519131,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293285641559465,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16398009891439,
+            "object_top_z": 1.2138804503011174,
+            "finger_top_clearance": 0.049900351386727326,
+            "fingertip_min_top_clearance": 0.014970105416018231,
+            "object_projection_between_fingers": 0.8239811148470099,
+            "object_to_finger_line_xy": 0.010125129685758044,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047856978362595656,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6526415117441393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3373395015877293,
+              -0.33398265466135957,
+              0.8515395724594631
+            ],
+            "target_position": [
+              0.328304364424081,
+              -0.3362666986530853,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009319364813230393,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18726122033893344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395724594631,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589816504654678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688654034060776,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15456416096657158,
+            "release_required_pad_clearance": 0.05344327017030388,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9003625000783853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008027791976928711,
+            "max_z_decrease": 0.008027791976928711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502740236256756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008027791976928711,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021249807555996085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008027791976928711,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008027813889089864,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1840042918920517,
+              -0.39252814650535583,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1840042918920517,
+              -0.39252814650535583,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18478087228038995,
+              -0.39283083416077547,
+              0.8051051358764216
+            ],
+            "closest_button": [
+              0.18398676812648773,
+              -0.3925313353538513,
+              0.7700880169868469
+            ],
+            "closest_ee_minus_button": [
+              0.0007941041539022142,
+              -0.00029949880692414776,
+              0.035017118889574705
+            ],
+            "button_min_z_position": [
+              0.18398597836494446,
+              -0.3925321996212005,
+              0.7687810659408569
+            ],
+            "min_active_finger_to_button": 0.14525797739379145,
+            "closest_active_finger": [
+              0.043839387595653534,
+              -0.37720197439193726,
+              0.8079606294631958
+            ],
+            "closest_active_finger_button": [
+              0.1840166598558426,
+              -0.3925324976444244,
+              0.7731010913848877
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14017727226018906,
+              0.015330523252487127,
+              0.034859538078308105
+            ],
+            "min_contact_pad_to_button": 0.021249807555996085,
+            "closest_contact_pad": [
+              0.18398597836494446,
+              -0.3939892838032676,
+              0.7899808590260085
+            ],
+            "closest_contact_pad_button": [
+              0.18398597836494446,
+              -0.3925321996212005,
+              0.7687810659408569
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001457084182067081,
+              0.02119979308515152
+            ]
+          },
+          "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": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9e44a91f32e320e744b2131346901cc888f06338b3c49d6510bb386e0d380cb",
+    "visual_seed": 959308203518849435,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f33aae7a625a4e762f3ec695e15a8850ec4a906
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_53_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.380299743927938,
+              0.21183949700049878,
+              1.1643554786164725
+            ],
+            "current_z": 1.1643554786164725,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3032489706017065,
+            "gripper_z": 1.1535281530800543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3751714013587481,
+              0.2069258135222012,
+              1.1535281530800543
+            ],
+            "object_minus_gripper": [
+              0.005128342569189925,
+              0.00491368347829757,
+              0.010827325536418186
+            ],
+            "object_to_gripper_xy": 0.007102406833733198,
+            "object_to_gripper_z": 0.010827325536418186,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.380299743927938,
+              0.18774022786582412,
+              1.1643554786164725
+            ],
+            "finger_b": [
+              0.3691975974735462,
+              0.21183949700049878,
+              1.1643554786164725
+            ],
+            "finger_midpoint": [
+              0.37474867070074214,
+              0.19978986243316144,
+              1.1643554786164725
+            ],
+            "object_minus_finger_midpoint": [
+              0.005551073227195891,
+              0.012049634567337347,
+              0.0
+            ],
+            "finger_gap": 0.026533609417496298,
+            "fingertip_max_gap": 0.09068308741261608,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01326680470874815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643554786164725,
+            "object_top_z": 1.214211577426127,
+            "finger_top_clearance": 0.04985609880965458,
+            "fingertip_min_top_clearance": 0.014956829642896373,
+            "object_projection_between_fingers": 0.8249261669397583,
+            "object_to_finger_line_xy": 0.010083574050070139,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784154370630804,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5450945611189366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3367500110762727,
+              -0.34004664026607356,
+              0.8515395721086993
+            ],
+            "target_position": [
+              0.32795992122271805,
+              -0.3422741263950263,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009067931080915958,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18322825914983903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395721086993,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590257409677692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739975912232549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1506169520154752,
+            "release_required_pad_clearance": 0.05369987956116275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4092703710930072,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008172810077667236,
+            "max_z_decrease": 0.008172810077667236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505952435143177,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008172810077667236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021047461807795043,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008172810077667236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008172829498807224,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18365985155105588,
+              -0.39853557944297785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18365985155105588,
+              -0.39853557944297785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1839288020446888,
+              -0.3964992399325091,
+              0.8036361373977386
+            ],
+            "closest_button": [
+              0.18367317318916315,
+              -0.3985237479209899,
+              0.7686360478401184
+            ],
+            "closest_ee_minus_button": [
+              0.00025562885552565806,
+              0.002024507988480806,
+              0.03500008955762024
+            ],
+            "button_min_z_position": [
+              0.18367317318916315,
+              -0.3985237479209899,
+              0.7686360478401184
+            ],
+            "min_active_finger_to_button": 0.14470831613049656,
+            "closest_active_finger": [
+              0.058028675615787506,
+              -0.4615069329738617,
+              0.8108914494514465
+            ],
+            "closest_active_finger_button": [
+              0.18366365134716028,
+              -0.398537665605545,
+              0.7763773798942566
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12563497573137278,
+              -0.0629692673683167,
+              0.03451406955718994
+            ],
+            "min_contact_pad_to_button": 0.021047461807795043,
+            "closest_contact_pad": [
+              0.18367317318916315,
+              -0.3985237479209899,
+              0.7896835096479135
+            ],
+            "closest_contact_pad_button": [
+              0.18367317318916315,
+              -0.3985237479209899,
+              0.7686360478401184
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021047461807795043
+            ]
+          },
+          "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": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3421650040ff3f369bed8e5ce14275ec4ae0285aba2fc89fb316bd574395fe56",
+    "visual_seed": 8118997838165122910,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf5ac751e4c93f7c3f3da4366116a3f155a363a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_54_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38344925719512346,
+              0.2123962068998531,
+              1.1663163235286347
+            ],
+            "current_z": 1.1663163235286347,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30520969630457917,
+            "gripper_z": 1.1555250289014856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3782465820511779,
+              0.20728051248893875,
+              1.1555250289014856
+            ],
+            "object_minus_gripper": [
+              0.005202675143945568,
+              0.005115694410914362,
+              0.010791294627149117
+            ],
+            "object_to_gripper_xy": 0.0072964483112874495,
+            "object_to_gripper_z": 0.010791294627149117,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38344925719512346,
+              0.18837488632409108,
+              1.1663163235286347
+            ],
+            "finger_b": [
+              0.37188216735759905,
+              0.2123962068998531,
+              1.1663163235286347
+            ],
+            "finger_midpoint": [
+              0.37766571227636125,
+              0.2003855466119721,
+              1.1663163235286347
+            ],
+            "object_minus_finger_midpoint": [
+              0.005783544918762207,
+              0.012010660287881003,
+              0.0
+            ],
+            "finger_gap": 0.02666123420835744,
+            "fingertip_max_gap": 0.09081790993201846,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013330617104178709,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663163235286347,
+            "object_top_z": 1.2161931338806742,
+            "finger_top_clearance": 0.0498768103520395,
+            "fingertip_min_top_clearance": 0.014963043105611883,
+            "object_projection_between_fingers": 0.8117704876094697,
+            "object_to_finger_line_xy": 0.010421752081856505,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047908954966009235,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.707976459348139,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3319719700307991,
+              -0.335029456721884,
+              0.8515395770149197
+            ],
+            "target_position": [
+              0.32470632468572397,
+              -0.33649164913790297,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007411316275930693,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18522846909596158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395770149197,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581771578906268,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086258400173425,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15255923677495253,
+            "release_required_pad_clearance": 0.0531292000867125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2844886082550298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007992982864379883,
+            "max_z_decrease": 0.007992982864379883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351094392058149,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007992982864379883,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021223470354726562,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007992982864379883,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007993006698826683,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18040625751018524,
+              -0.3927530944347381,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18040625751018524,
+              -0.3927530944347381,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18145743970385103,
+              -0.3937185276886436,
+              0.8075933700004394
+            ],
+            "closest_button": [
+              0.18039508163928986,
+              -0.3927559554576873,
+              0.772513210773468
+            ],
+            "closest_ee_minus_button": [
+              0.0010623580645611752,
+              -0.0009625722309563045,
+              0.035080159226971386
+            ],
+            "button_min_z_position": [
+              0.1803869903087616,
+              -0.39275622367858876,
+              0.7688158750534058
+            ],
+            "min_active_finger_to_button": 0.14509977084314632,
+            "closest_active_finger": [
+              0.04010796546936035,
+              -0.3795202672481537,
+              0.8081995248794556
+            ],
+            "closest_active_finger_button": [
+              0.18041399121284485,
+              -0.3927603363990783,
+              0.7736616730690002
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403060257434845,
+              0.013240069150924627,
+              0.03453785181045532
+            ],
+            "min_contact_pad_to_button": 0.021223470354726562,
+            "closest_contact_pad": [
+              0.1803869903087616,
+              -0.39475665462975373,
+              0.7899448591725625
+            ],
+            "closest_contact_pad_button": [
+              0.1803869903087616,
+              -0.39275622367858876,
+              0.7688158750534058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020004309511649776,
+              0.021128984119156757
+            ]
+          },
+          "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": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a026be9871973d6383d63654bb709dca5747a875e9c499af6b40da858db48092",
+    "visual_seed": 2879537263359832968,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d371d9e6a9978b139a584f6f892ba5e243fe180
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_55_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3802544406070785,
+              0.21124337863377313,
+              1.1642008483973525
+            ],
+            "current_z": 1.1642008483973525,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3030943999872312,
+            "gripper_z": 1.1533563771589237,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3748446230403707,
+              0.20619587125582628,
+              1.1533563771589237
+            ],
+            "object_minus_gripper": [
+              0.005409817566707831,
+              0.005047507377946847,
+              0.010844471238428799
+            ],
+            "object_to_gripper_xy": 0.007398882134180034,
+            "object_to_gripper_z": 0.010844471238428799,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3802544406070785,
+              0.18678481203224895,
+              1.1642008483973525
+            ],
+            "finger_b": [
+              0.3691638679218138,
+              0.21124337863377313,
+              1.1642008483973525
+            ],
+            "finger_midpoint": [
+              0.3747091542644462,
+              0.19901409533301104,
+              1.1642008483973525
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055452863426323495,
+              0.01222928330076209,
+              0.0
+            ],
+            "finger_gap": 0.026855581965176876,
+            "fingertip_max_gap": 0.09115393411684167,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013427790982588438,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642008483973525,
+            "object_top_z": 1.2140799071482444,
+            "finger_top_clearance": 0.049879058750891936,
+            "fingertip_min_top_clearance": 0.014963717625267547,
+            "object_projection_between_fingers": 0.8294550717031957,
+            "object_to_finger_line_xy": 0.01010067519755591,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048076967058420836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9643637090882292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32706957569262474,
+              -0.3326497301644774,
+              0.8515395057338354
+            ],
+            "target_position": [
+              0.31924350920973243,
+              -0.33417765506258684,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007973824119512106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18308218147468003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395057338354,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576847789208963,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08782085787114861,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15067662144407118,
+            "release_required_pad_clearance": 0.05391042893557431,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8308136810941495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007971465587615967,
+            "max_z_decrease": 0.007971465587615967,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514667395142789,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007971465587615967,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02112426269256002,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007971465587615967,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797148722675753,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17494343221187592,
+              -0.3904391229152679,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17494343221187592,
+              -0.3904391229152679,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17646163605377982,
+              -0.39032571408271477,
+              0.8076684993353792
+            ],
+            "closest_button": [
+              0.17493264377117157,
+              -0.3904419839382171,
+              0.7725552916526794
+            ],
+            "closest_ee_minus_button": [
+              0.0015289922826082492,
+              0.00011626985550233782,
+              0.035113207682699765
+            ],
+            "button_min_z_position": [
+              0.17492511868476868,
+              -0.3904422223567962,
+              0.7688373923301697
+            ],
+            "min_active_finger_to_button": 0.1447123549705495,
+            "closest_active_finger": [
+              0.03510153293609619,
+              -0.3762432932853699,
+              0.8107849955558777
+            ],
+            "closest_active_finger_button": [
+              0.1749460399150848,
+              -0.39044141769409174,
+              0.7763816118240356
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13984450697898862,
+              0.014198124408721868,
+              0.03440338373184204
+            ],
+            "min_contact_pad_to_button": 0.02112426269256002,
+            "closest_contact_pad": [
+              0.17492511868476868,
+              -0.3913409650137748,
+              0.7899425276280257
+            ],
+            "closest_contact_pad_button": [
+              0.17492511868476868,
+              -0.3904422223567962,
+              0.7688373923301697
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008987426569785906,
+              0.02110513529785607
+            ]
+          },
+          "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": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26cb6800a5cb971e80800994356d75850c32cc23433b028cd5f6608a90385f37",
+    "visual_seed": 2882130347275063478,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..339004ae38563efdf046389386d02b58a9cf330c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_56_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3840624155948679,
+              0.2141840787473494,
+              1.1652000503663764
+            ],
+            "current_z": 1.1652000503663764,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3040934827469658,
+            "gripper_z": 1.1543815155615824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3788081350932676,
+              0.20911710053305993,
+              1.1543815155615824
+            ],
+            "object_minus_gripper": [
+              0.005254280501600317,
+              0.005066978214289475,
+              0.010818534804794
+            ],
+            "object_to_gripper_xy": 0.007299433663893483,
+            "object_to_gripper_z": 0.010818534804794,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3840624155948679,
+              0.18997627348155816,
+              1.1652000503663764
+            ],
+            "finger_b": [
+              0.3727604346602618,
+              0.2141840787473494,
+              1.1652000503663764
+            ],
+            "finger_midpoint": [
+              0.37841142512756487,
+              0.20208017611445378,
+              1.1652000503663764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005650990467303052,
+              0.012103902632895625,
+              0.0
+            ],
+            "finger_gap": 0.026716148839843485,
+            "fingertip_max_gap": 0.09069010559372168,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013358074419921743,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652000503663764,
+            "object_top_z": 1.2151086004131058,
+            "finger_top_clearance": 0.04990855004672934,
+            "fingertip_min_top_clearance": 0.014972565014018767,
+            "object_projection_between_fingers": 0.8210377496831741,
+            "object_to_finger_line_xy": 0.010240853021996888,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784505279686084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5398646681691606,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33850806114982657,
+              -0.3315615416016774,
+              0.8515395587192837
+            ],
+            "target_position": [
+              0.32895733721705106,
+              -0.3338495732056788,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00982096819366605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845279472448117,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395587192837,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521885567730834,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615158786329823,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536285694794099,
+            "release_required_pad_clearance": 0.053075793931649115,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1803331329938187,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008134245872497559,
+            "max_z_decrease": 0.008134245872497559,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035028625222851634,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134245872497559,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021168588585590564,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008134245872497559,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008134288028305094,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1846572607755661,
+              -0.3901110291481018,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1846572607755661,
+              -0.3901110291481018,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18347525691408414,
+              -0.38916454273330425,
+              0.8070991922875645
+            ],
+            "closest_button": [
+              0.1846456229686737,
+              -0.39011436700820923,
+              0.7721030116081238
+            ],
+            "closest_ee_minus_button": [
+              -0.0011703660545895611,
+              0.0009498242749049757,
+              0.03499618067944077
+            ],
+            "button_min_z_position": [
+              0.18463121354579926,
+              -0.3901137411594391,
+              0.7686746120452881
+            ],
+            "min_active_finger_to_button": 0.14689516053692686,
+            "closest_active_finger": [
+              0.05620808154344559,
+              -0.45229920744895935,
+              0.8075542449951172
+            ],
+            "closest_active_finger_button": [
+              0.18466821312904358,
+              -0.39011865854263306,
+              0.7727726101875305
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128460131585598,
+              -0.062180548906326294,
+              0.03478163480758667
+            ],
+            "min_contact_pad_to_button": 0.021168588585590564,
+            "closest_contact_pad": [
+              0.18463121354579926,
+              -0.3903669950100803,
+              0.7898416856548622
+            ],
+            "closest_contact_pad_button": [
+              0.18463121354579926,
+              -0.3901137411594391,
+              0.7686746120452881
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025325385064123296,
+              0.02116707360957415
+            ]
+          },
+          "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": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "621a563b76ee3d87099e665d791240b0fe7f09a485cf80e2c0eca03c01ace488",
+    "visual_seed": 234179165593151231,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48eb359e61d3d68ea3f6f8f7320f411c9ecfb7c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_57_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38327964652382746,
+              0.21153192404967444,
+              1.1637016996352418
+            ],
+            "current_z": 1.1637016996352418,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30259519162047577,
+            "gripper_z": 1.1528994237120023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3780071508566214,
+              0.20641874373072605,
+              1.1528994237120023
+            ],
+            "object_minus_gripper": [
+              0.005272495667206056,
+              0.00511318031894839,
+              0.010802275923239568
+            ],
+            "object_to_gripper_xy": 0.007344645909421897,
+            "object_to_gripper_z": 0.010802275923239568,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38327964652382746,
+              0.1874018796156056,
+              1.1637016996352418
+            ],
+            "finger_b": [
+              0.3717920298402826,
+              0.21153192404967444,
+              1.1637016996352418
+            ],
+            "finger_midpoint": [
+              0.37753583818205505,
+              0.19946690183264001,
+              1.1637016996352418
+            ],
+            "object_minus_finger_midpoint": [
+              0.005743808341772405,
+              0.012065022217034427,
+              0.0
+            ],
+            "finger_gap": 0.026724976734474357,
+            "fingertip_max_gap": 0.09063063866273405,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013362488367237167,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637016996352418,
+            "object_top_z": 1.2135950316941506,
+            "finger_top_clearance": 0.04989333205890878,
+            "fingertip_min_top_clearance": 0.014967999617672666,
+            "object_projection_between_fingers": 0.8152326628802122,
+            "object_to_finger_line_xy": 0.010372196158281883,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047815319331367026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5032466124741917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33019631816012046,
+              -0.34062071707626435,
+              0.8515395763113405
+            ],
+            "target_position": [
+              0.32042663561335016,
+              -0.34319269535079594,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010102562512022911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546939960335843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395763113405,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575123548262312,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08508469511816767,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532763145055326,
+            "release_required_pad_clearance": 0.05254234755908384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15323336403340443,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00822383165359497,
+            "max_z_decrease": 0.00822383165359497,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501116886445301,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00822383165359497,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020963448247714598,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00822383165359497,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008223895716307321,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17612655460834498,
+              -0.39945414662361145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17612655460834498,
+              -0.39945414662361145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17467540606617157,
+              -0.39895590935017944,
+              0.8036270689767443
+            ],
+            "closest_button": [
+              0.17615176737308502,
+              -0.39944151043891907,
+              0.7686504125595093
+            ],
+            "closest_ee_minus_button": [
+              -0.0014763613069134485,
+              0.00048560108873962893,
+              0.03497665641723502
+            ],
+            "button_min_z_position": [
+              0.1761558800935745,
+              -0.3994402289390564,
+              0.7685850262641907
+            ],
+            "min_active_finger_to_button": 0.14683571120950398,
+            "closest_active_finger": [
+              0.04812178760766983,
+              -0.46265608072280884,
+              0.8110255002975464
+            ],
+            "closest_active_finger_button": [
+              0.17613075673580167,
+              -0.3994567394256592,
+              0.7766703963279724
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12800896912813184,
+              -0.06319934129714966,
+              0.034355103969573975
+            ],
+            "min_contact_pad_to_button": 0.020963448247714598,
+            "closest_contact_pad": [
+              0.1761558800935745,
+              -0.4000560453032846,
+              0.7895394275355264
+            ],
+            "closest_contact_pad_button": [
+              0.1761558800935745,
+              -0.3994402289390564,
+              0.7685850262641907
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006158163642281944,
+              0.020954401271335743
+            ]
+          },
+          "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": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6712cb474de7caf21cb21e19651611f92fed938a0b89d70d7c5519b55c3dffcc",
+    "visual_seed": 3170611473520108001,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..446f6e8e107cb5e6e8ac2c646f5d8193f092d6ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_58_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38403435742203323,
+              0.21413180647779095,
+              1.1660424716843338
+            ],
+            "current_z": 1.1660424716843338,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3049359636695679,
+            "gripper_z": 1.1552171313262523,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3787136400257431,
+              0.2090532684894439,
+              1.1552171313262523
+            ],
+            "object_minus_gripper": [
+              0.005320717396290142,
+              0.005078537988347065,
+              0.010825340358081581
+            ],
+            "object_to_gripper_xy": 0.007355377740828054,
+            "object_to_gripper_z": 0.010825340358081581,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38403435742203323,
+              0.18993674201050711,
+              1.1660424716843338
+            ],
+            "finger_b": [
+              0.3726397854903143,
+              0.21413180647779095,
+              1.1660424716843338
+            ],
+            "finger_midpoint": [
+              0.3783370714561738,
+              0.20203427424414905,
+              1.1660424716843338
+            ],
+            "object_minus_finger_midpoint": [
+              0.005697285965859444,
+              0.012097532233641906,
+              0.0
+            ],
+            "finger_gap": 0.026743922937428947,
+            "fingertip_max_gap": 0.09079296480495594,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013371961468714449,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660424716843338,
+            "object_top_z": 1.21593892545601,
+            "finger_top_clearance": 0.049896453771676175,
+            "fingertip_min_top_clearance": 0.014968936131502818,
+            "object_projection_between_fingers": 0.8184710881301503,
+            "object_to_finger_line_xy": 0.01030859994287536,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789648240247797,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6410082753312597,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3320680430916688,
+              -0.3324130671588358,
+              0.8515395736610655
+            ],
+            "target_position": [
+              0.32255022794482646,
+              -0.33479584782508687,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0098115467115497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18626640929577543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395736610655,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551634554319256,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530158965937783,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544857404528424,
+            "release_required_pad_clearance": 0.052650794829688916,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3604515545199895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008160054683685303,
+            "max_z_decrease": 0.008160054683685303,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503414325124161,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008160054683685303,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021258446984054703,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008160054683685303,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008160061326309247,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17825014889240254,
+              -0.3910573124885559,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17825014889240254,
+              -0.3910573124885559,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1794579571234867,
+              -0.3919957688391858,
+              0.803649134394676
+            ],
+            "closest_button": [
+              0.17824570834636677,
+              -0.3910478949546814,
+              0.7686488032341003
+            ],
+            "closest_ee_minus_button": [
+              0.001212248777119923,
+              -0.0009478738845044021,
+              0.03500033116057566
+            ],
+            "button_min_z_position": [
+              0.17824570834636677,
+              -0.3910478949546814,
+              0.7686488032341003
+            ],
+            "min_active_finger_to_button": 0.1446117105078701,
+            "closest_active_finger": [
+              0.03877100348472595,
+              -0.3754008412361145,
+              0.8075684905052185
+            ],
+            "closest_active_finger_button": [
+              0.17826241254806507,
+              -0.39106383919715876,
+              0.7727925777435303
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13949140906333912,
+              0.015662997961044256,
+              0.03477591276168823
+            ],
+            "min_contact_pad_to_button": 0.021258446984054703,
+            "closest_contact_pad": [
+              0.17824570834636677,
+              -0.3932251005711706,
+              0.7897954659466276
+            ],
+            "closest_contact_pad_button": [
+              0.17824570834636677,
+              -0.3910478949546814,
+              0.7686488032341003
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021772056164892084,
+              0.021146662712527298
+            ]
+          },
+          "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": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4701040994a0857a2b946ca449be89f2a7a63d19f487a0f2c7fdd1ac5b70ece9",
+    "visual_seed": 5031566460746158633,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea8f0d1b492ba67c85e4a36b02ee2626764809c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_59_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.382760984124047,
+              0.21789037315970738,
+              1.1643690292551465
+            ],
+            "current_z": 1.1643690292551465,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3032625808450251,
+            "gripper_z": 1.1535200837049173,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3773597210458781,
+              0.21281864440512593,
+              1.1535200837049173
+            ],
+            "object_minus_gripper": [
+              0.005401263078168905,
+              0.0050717287545814504,
+              0.010848945550229194
+            ],
+            "object_to_gripper_xy": 0.007409188579030699,
+            "object_to_gripper_z": 0.010848945550229194,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.382760984124047,
+              0.19343968729682395,
+              1.1643690292551465
+            ],
+            "finger_b": [
+              0.37162857455503856,
+              0.21789037315970738,
+              1.1643690292551465
+            ],
+            "finger_midpoint": [
+              0.3771947793395428,
+              0.20566503022826566,
+              1.1643690292551465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005566204784504203,
+              0.01222534293144173,
+              0.0
+            ],
+            "finger_gap": 0.02686571387433356,
+            "fingertip_max_gap": 0.09089284528098843,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013432856937166783,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643690292551465,
+            "object_top_z": 1.214266439143108,
+            "finger_top_clearance": 0.04989740988796143,
+            "fingertip_min_top_clearance": 0.014969222966388461,
+            "object_projection_between_fingers": 0.8282955377726198,
+            "object_to_finger_line_xy": 0.010131688684767381,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047946422640494216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7798910449401064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3331628051636537,
+              -0.3315725122494437,
+              0.8515395841446763
+            ],
+            "target_position": [
+              0.32501106611499453,
+              -0.33339432402501906,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008352834708232889,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18530415619385043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395841446763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546474138100119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645039361305683,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363559674574886,
+            "release_required_pad_clearance": 0.053225196806528416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4719013661552047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032143115997314,
+            "max_z_decrease": 0.008032143115997314,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021214139762724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032143115997314,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02140179207635517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008032143115997314,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008032174058775541,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18071098625659943,
+              -0.3896557688713074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18071098625659943,
+              -0.3896557688713074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17995759268329187,
+              -0.3907978093946527,
+              0.807529861897974
+            ],
+            "closest_button": [
+              0.18070176243782043,
+              -0.38966065645217896,
+              0.7725350260734558
+            ],
+            "closest_ee_minus_button": [
+              -0.0007441697545285675,
+              -0.0011371529424737403,
+              0.03499483582451823
+            ],
+            "button_min_z_position": [
+              0.1806887090206146,
+              -0.389656662940979,
+              0.7687767148017883
+            ],
+            "min_active_finger_to_button": 0.1469472773678506,
+            "closest_active_finger": [
+              0.039025068283081055,
+              -0.3726707398891449,
+              0.8079397678375244
+            ],
+            "closest_active_finger_button": [
+              0.18072275817394254,
+              -0.38966166973114014,
+              0.7729172706604004
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14169768989086148,
+              0.01699092984199524,
+              0.03502249717712402
+            ],
+            "min_contact_pad_to_button": 0.02140179207635517,
+            "closest_contact_pad": [
+              0.1806887090206146,
+              -0.3922532595777911,
+              0.7900204053941792
+            ],
+            "closest_contact_pad_button": [
+              0.1806887090206146,
+              -0.389656662940979,
+              0.7687767148017883
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025965966368121096,
+              0.02124369059239084
+            ]
+          },
+          "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": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b87432a16694808b1273e8f6c93a3b145919701794832006ba60c6de70562041",
+    "visual_seed": 5639048609860656007,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce0ba0d68f6555be74338a37032e691e3572c6e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_5_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.382473390407078,
+              0.21796620855205037,
+              1.165839636194553
+            ],
+            "current_z": 1.165839636194553,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30473306857514215,
+            "gripper_z": 1.1550150703389128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37708115342508003,
+              0.21283866893993408,
+              1.1550150703389128
+            ],
+            "object_minus_gripper": [
+              0.005392236981997978,
+              0.005127539612116289,
+              0.010824565855640289
+            ],
+            "object_to_gripper_xy": 0.0074409597595907154,
+            "object_to_gripper_z": 0.010824565855640289,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.382473390407078,
+              0.1937838665293312,
+              1.165839636194553
+            ],
+            "finger_b": [
+              0.3709308916890693,
+              0.21796620855205037,
+              1.165839636194553
+            ],
+            "finger_midpoint": [
+              0.37670214104807365,
+              0.20587503754069078,
+              1.165839636194553
+            ],
+            "object_minus_finger_midpoint": [
+              0.00577124935900436,
+              0.012091171011359592,
+              0.0
+            ],
+            "finger_gap": 0.026795800834440515,
+            "fingertip_max_gap": 0.0907472977834334,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013397900417220257,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165839636194553,
+            "object_top_z": 1.2157260798155218,
+            "finger_top_clearance": 0.04988644362096872,
+            "fingertip_min_top_clearance": 0.014965933086290583,
+            "object_projection_between_fingers": 0.8144477659232068,
+            "object_to_finger_line_xy": 0.010416731096050205,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047873648891716705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5274230429893976,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3355799692388011,
+              -0.34011767684969074,
+              0.8515395656665796
+            ],
+            "target_position": [
+              0.3266225242340334,
+              -0.3425382741235843,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009278745183257248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859479299388896,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395656665796,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587412312813993,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870296391280158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15348761215524837,
+            "release_required_pad_clearance": 0.0535148195640079,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0417332708857074,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00829988718032837,
+            "max_z_decrease": 0.00829988718032837,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035025475786529724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00829988718032837,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02130104422022029,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00829988718032837,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008299919777336988,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1823224574327469,
+              -0.39879974722862244,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1823224574327469,
+              -0.39879974722862244,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18313120085471699,
+              -0.39997620033154885,
+              0.803504392961213
+            ],
+            "closest_button": [
+              0.1823066622018814,
+              -0.3987826704978943,
+              0.7685089707374573
+            ],
+            "closest_ee_minus_button": [
+              0.0008245386528355769,
+              -0.0011935298336545608,
+              0.034995422223755734
+            ],
+            "button_min_z_position": [
+              0.1823066622018814,
+              -0.3987826704978943,
+              0.7685089707374573
+            ],
+            "min_active_finger_to_button": 0.1449941109838013,
+            "closest_active_finger": [
+              0.042422279715538025,
+              -0.383559912443161,
+              0.8077280521392822
+            ],
+            "closest_active_finger_button": [
+              0.1823358982801437,
+              -0.3988048732280731,
+              0.7728703022003174
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13991361856460569,
+              0.01524496078491211,
+              0.034857749938964844
+            ],
+            "min_contact_pad_to_button": 0.02130104422022029,
+            "closest_contact_pad": [
+              0.1823066622018814,
+              -0.4011901307635288,
+              0.7896735312087066
+            ],
+            "closest_contact_pad_button": [
+              0.1823066622018814,
+              -0.3987826704978943,
+              0.7685089707374573
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002407460265634487,
+              0.021164560471249372
+            ]
+          },
+          "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": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d38875342095f840c421fde49760e5cf7488250f1b0903188a5ea4ff4c3d677",
+    "visual_seed": 2843313432848640527,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6db4e411f5f76e2ebc1cca352d4292539a87469
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_60_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37884989116636925,
+              0.21451554121697425,
+              1.165133231887781
+            ],
+            "current_z": 1.165133231887781,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30402678347765955,
+            "gripper_z": 1.1542401137555751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37366652286124935,
+              0.20963371514782553,
+              1.1542401137555751
+            ],
+            "object_minus_gripper": [
+              0.005183368305119895,
+              0.00488182606914872,
+              0.010893118132205837
+            ],
+            "object_to_gripper_xy": 0.007120360437220965,
+            "object_to_gripper_z": 0.010893118132205837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37884989116636925,
+              0.19027693465358655,
+              1.165133231887781
+            ],
+            "finger_b": [
+              0.36792756591917375,
+              0.21451554121697425,
+              1.165133231887781
+            ],
+            "finger_midpoint": [
+              0.3733887285427715,
+              0.2023962379352804,
+              1.165133231887781
+            ],
+            "object_minus_finger_midpoint": [
+              0.005461162623597748,
+              0.01211930328169386,
+              0.0
+            ],
+            "finger_gap": 0.026585846553010592,
+            "fingertip_max_gap": 0.09074958989358714,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292923276505308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165133231887781,
+            "object_top_z": 1.2149640222998708,
+            "finger_top_clearance": 0.04983079041208982,
+            "fingertip_min_top_clearance": 0.014949237123626946,
+            "object_projection_between_fingers": 0.8312167977764874,
+            "object_to_finger_line_xy": 0.00995800317647393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787479494679357,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6682078035972654,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3288439677743356,
+              -0.3385235039426375,
+              0.8515395780713272
+            ],
+            "target_position": [
+              0.3195517793608089,
+              -0.3405309630734942,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00950655866623351,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863721038777441,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395780713272,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522515830032124,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853016091264016,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15529606160943663,
+            "release_required_pad_clearance": 0.0526508045632008,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3604515535877181,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008175909519195557,
+            "max_z_decrease": 0.008175909519195557,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501046930207937,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008175909519195557,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021159706067136425,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008175909519195557,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008175934349442943,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17525170743465418,
+              -0.39679241180419916,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17525170743465418,
+              -0.39679241180419916,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17573869357936434,
+              -0.39776768333520235,
+              0.8036943436529013
+            ],
+            "closest_button": [
+              0.17526371777057642,
+              -0.39677843451499933,
+              0.7687010765075684
+            ],
+            "closest_ee_minus_button": [
+              0.0004749758087879141,
+              -0.0009892488202030147,
+              0.03499326714533291
+            ],
+            "button_min_z_position": [
+              0.17526367306709284,
+              -0.39677619934082026,
+              0.7686329483985901
+            ],
+            "min_active_finger_to_button": 0.1452628806170523,
+            "closest_active_finger": [
+              0.03499174118041992,
+              -0.38155481219291687,
+              0.8077800273895264
+            ],
+            "closest_active_finger_button": [
+              0.17525899410247797,
+              -0.3967998325824737,
+              0.7732258439064026
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14026725292205805,
+              0.01524502038955683,
+              0.03455418348312378
+            ],
+            "min_contact_pad_to_button": 0.021159706067136425,
+            "closest_contact_pad": [
+              0.17526367306709284,
+              -0.39896562279644915,
+              0.789679078346387
+            ],
+            "closest_contact_pad_button": [
+              0.17526367306709284,
+              -0.39677619934082026,
+              0.7686329483985901
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021894234556288916,
+              0.021046129947796866
+            ]
+          },
+          "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": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b27cd19dec34a2728e29510baebb12176dccd8cb4a1a6e5b5734a971a6666932",
+    "visual_seed": 3046617891150028010,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a8a97296f998f96c552beb84e7f10cfde38fc5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_61_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38604784614918664,
+              0.21300133811120306,
+              1.1653006785331228
+            ],
+            "current_z": 1.1653006785331228,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30419417051835673,
+            "gripper_z": 1.1544688652550865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3807438508179116,
+              0.2079826396262044,
+              1.1544688652550865
+            ],
+            "object_minus_gripper": [
+              0.005303995331275013,
+              0.005018698484998668,
+              0.010831813278036284
+            ],
+            "object_to_gripper_xy": 0.0073020340287836966,
+            "object_to_gripper_z": 0.010831813278036284,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38604784614918664,
+              0.18874113623860272,
+              1.1653006785331228
+            ],
+            "finger_b": [
+              0.37483945815938424,
+              0.21300133811120306,
+              1.1653006785331228
+            ],
+            "finger_midpoint": [
+              0.38044365215428544,
+              0.2008712371749029,
+              1.1653006785331228
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056041939949011965,
+              0.012130100936300153,
+              0.0
+            ],
+            "finger_gap": 0.02672424659797292,
+            "fingertip_max_gap": 0.09069168344488884,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013362123298986449,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653006785331228,
+            "object_top_z": 1.2152000109956966,
+            "finger_top_clearance": 0.04989933246257383,
+            "fingertip_min_top_clearance": 0.014969799738772115,
+            "object_projection_between_fingers": 0.8240961394206779,
+            "object_to_finger_line_xy": 0.010174945598640786,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047845841722444424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6056684199836635,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3366739369081327,
+              -0.3346922168896529,
+              0.8515395733058899
+            ],
+            "target_position": [
+              0.3274090968847535,
+              -0.33688491977727525,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009520777626443978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18298398931844206,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395733058899,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521236714448684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529931233538422,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15209102375246492,
+            "release_required_pad_clearance": 0.05264965616769211,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35827357785561864,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007773458957672119,
+            "max_z_decrease": 0.007773458957672119,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502146432126193,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007773458957672119,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021279223584165396,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007773458957672119,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007773479706177717,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18310903012752533,
+              -0.39314636588096613,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18310903012752533,
+              -0.39314636588096613,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18186973854413163,
+              -0.39311310302203645,
+              0.8082434476900944
+            ],
+            "closest_button": [
+              0.18311969935894012,
+              -0.39315453171730036,
+              0.773244321346283
+            ],
+            "closest_ee_minus_button": [
+              -0.0012499608148084929,
+              4.142869526391202e-05,
+              0.034999126343811415
+            ],
+            "button_min_z_position": [
+              0.18309108912944794,
+              -0.3931455314159393,
+              0.7690353989601135
+            ],
+            "min_active_finger_to_button": 0.14747692835968498,
+            "closest_active_finger": [
+              0.053473129868507385,
+              -0.4540746808052063,
+              0.8083149194717407
+            ],
+            "closest_active_finger_button": [
+              0.18311969935894012,
+              -0.39315453171730036,
+              0.773244321346283
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12964656949043274,
+              -0.06092014908790594,
+              0.035070598125457764
+            ],
+            "min_contact_pad_to_button": 0.021279223584165396,
+            "closest_contact_pad": [
+              0.18309108912944794,
+              -0.3945838628897857,
+              0.7902659561576117
+            ],
+            "closest_contact_pad_button": [
+              0.18309108912944794,
+              -0.3931455314159393,
+              0.7690353989601135
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014383314738464215,
+              0.021230557197498223
+            ]
+          },
+          "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": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c49ec8f96212101961434d095522365cbbe736cb234a98528989b703f4880ad",
+    "visual_seed": 5143692390358831272,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..273b2f2671718f3ff0e7fac3a63febe8785f9570
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_62_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3773811352292371,
+              0.21681019477509048,
+              1.1629029347330326
+            ],
+            "current_z": 1.1629029347330326,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3017964267182668,
+            "gripper_z": 1.152049504719991,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3721632598347516,
+              0.21167163932145439,
+              1.152049504719991
+            ],
+            "object_minus_gripper": [
+              0.005217875394485483,
+              0.00513855545363609,
+              0.01085343001304162
+            ],
+            "object_to_gripper_xy": 0.007323317266271497,
+            "object_to_gripper_z": 0.01085343001304162,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3773811352292371,
+              0.19287334019459992,
+              1.1629029347330326
+            ],
+            "finger_b": [
+              0.36566596382813144,
+              0.21681019477509048,
+              1.1629029347330326
+            ],
+            "finger_midpoint": [
+              0.37152354952868427,
+              0.2048417674848452,
+              1.1629029347330326
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058575857005528364,
+              0.011968427290245276,
+              0.0
+            ],
+            "finger_gap": 0.026649920228113924,
+            "fingertip_max_gap": 0.09089235799128961,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013324960114056962,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629029347330326,
+            "object_top_z": 1.212784152638477,
+            "finger_top_clearance": 0.04988121790544442,
+            "fingertip_min_top_clearance": 0.014964365371633358,
+            "object_projection_between_fingers": 0.806756245264159,
+            "object_to_finger_line_xy": 0.010522521336403806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794617899564481,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6965567074249859,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.329363801288755,
+              -0.3364182700818704,
+              0.8515395589715059
+            ],
+            "target_position": [
+              0.32026718814310823,
+              -0.3385794633799703,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009349819634265951,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857008189171903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395589715059,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586261852644005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595932162181678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153264434491894,
+            "release_required_pad_clearance": 0.052979660810908394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.993856582699332,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00818711519241333,
+            "max_z_decrease": 0.00818711519241333,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035028107399076365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00818711519241333,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021127280785531204,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00818711519241333,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008187123016246068,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1759671121835708,
+              -0.3948409259319306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1759671121835708,
+              -0.3948409259319306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17531598879448365,
+              -0.3963504028736451,
+              0.8036107380210653
+            ],
+            "closest_button": [
+              0.17596870660781855,
+              -0.39482972025871277,
+              0.7686217427253723
+            ],
+            "closest_ee_minus_button": [
+              -0.0006527178133348965,
+              -0.0015206826149323227,
+              0.03498899529569299
+            ],
+            "button_min_z_position": [
+              0.17596870660781855,
+              -0.39482972025871277,
+              0.7686217427253723
+            ],
+            "min_active_finger_to_button": 0.146250466058604,
+            "closest_active_finger": [
+              0.03446301817893982,
+              -0.3814239501953125,
+              0.8104906678199768
+            ],
+            "closest_active_finger_button": [
+              0.1759700626134872,
+              -0.394845724105835,
+              0.7760695815086365
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14150704443454737,
+              0.013421773910522516,
+              0.03442108631134033
+            ],
+            "min_contact_pad_to_button": 0.021127280785531204,
+            "closest_contact_pad": [
+              0.17596870660781855,
+              -0.39741918258940756,
+              0.7895897344801539
+            ],
+            "closest_contact_pad_button": [
+              0.17596870660781855,
+              -0.39482972025871277,
+              0.7686217427253723
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025894623306947917,
+              0.02096799175478159
+            ]
+          },
+          "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": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "098e8277cf3b6e34bf070fe088ffccbd264f722a2811d65c6a0d7b31bc255fef",
+    "visual_seed": 1559421049087512487,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0742cefbea564001fecb416da160f2c2cda4489a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_63_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37998939101872325,
+              0.219396092776795,
+              1.1632349861992384
+            ],
+            "current_z": 1.1632349861992384,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3021282993705383,
+            "gripper_z": 1.1523793925253631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3746887912616899,
+              0.21435089942304492,
+              1.1523793925253631
+            ],
+            "object_minus_gripper": [
+              0.005300599757033342,
+              0.005045193353750088,
+              0.01085559367387523
+            ],
+            "object_to_gripper_xy": 0.007317809355332099,
+            "object_to_gripper_z": 0.01085559367387523,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37998939101872325,
+              0.19504672383785865,
+              1.1632349861992384
+            ],
+            "finger_b": [
+              0.3688541155188948,
+              0.219396092776795,
+              1.1632349861992384
+            ],
+            "finger_midpoint": [
+              0.374421753268809,
+              0.20722140830732683,
+              1.1632349861992384
+            ],
+            "object_minus_finger_midpoint": [
+              0.005567637749914256,
+              0.012174684469468178,
+              0.0
+            ],
+            "finger_gap": 0.02677472928306687,
+            "fingertip_max_gap": 0.09108795134441591,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013387364641533445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632349861992384,
+            "object_top_z": 1.2131380171855048,
+            "finger_top_clearance": 0.04990303098626647,
+            "fingertip_min_top_clearance": 0.014970909295879974,
+            "object_projection_between_fingers": 0.8270375787970555,
+            "object_to_finger_line_xy": 0.010126598424787709,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804397567220796,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8700485150623848,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33015706021476043,
+              -0.3334391823694932,
+              0.8515396114049099
+            ],
+            "target_position": [
+              0.32216461049176964,
+              -0.3352647929564518,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008198299005876207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869266540391581,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396114049099,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075911284971204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761049317078105,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15415674214313296,
+            "release_required_pad_clearance": 0.05380524658539053,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.619705115005355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008076369762420654,
+            "max_z_decrease": 0.008076369762420654,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501229170265509,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008076369762420654,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021291207141486523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008076369762420654,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008076388664743488,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17786453664302823,
+              -0.39152625203132624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17786453664302823,
+              -0.39152625203132624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1768492858550817,
+              -0.39252717398388876,
+              0.8037163007093541
+            ],
+            "closest_button": [
+              0.17784719169139857,
+              -0.3915283679962158,
+              0.768732488155365
+            ],
+            "closest_ee_minus_button": [
+              -0.0009979058363168702,
+              -0.000998805987672935,
+              0.03498381255398908
+            ],
+            "button_min_z_position": [
+              0.17784719169139857,
+              -0.3915283679962158,
+              0.768732488155365
+            ],
+            "min_active_finger_to_button": 0.1467531672798469,
+            "closest_active_finger": [
+              0.0363321453332901,
+              -0.3745662569999695,
+              0.8076801896095276
+            ],
+            "closest_active_finger_button": [
+              0.17787601053714747,
+              -0.3915320932865142,
+              0.7728378772735596
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14154386520385737,
+              0.016965836286544744,
+              0.03484231233596802
+            ],
+            "min_contact_pad_to_button": 0.021291207141486523,
+            "closest_contact_pad": [
+              0.17784719169139857,
+              -0.39387742466323156,
+              0.7898937129383693
+            ],
+            "closest_contact_pad_button": [
+              0.17784719169139857,
+              -0.3915283679962158,
+              0.768732488155365
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023490566670157365,
+              0.021161224783004307
+            ]
+          },
+          "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": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b81193386d06191966927996c896f9ff04ba0efddc4ddbbe1f0d635873d8d7c2",
+    "visual_seed": 6599863555647287634,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d9306a37082cfe95f801e806eec452626b7524
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_64_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.379501049161327,
+              0.21880961815725677,
+              1.1632531505048713
+            ],
+            "current_z": 1.1632531505048713,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30214670209475003,
+            "gripper_z": 1.152439678943629,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3742032155149293,
+              0.21372119755213148,
+              1.152439678943629
+            ],
+            "object_minus_gripper": [
+              0.005297833646397687,
+              0.005088420605125293,
+              0.010813471561242238
+            ],
+            "object_to_gripper_xy": 0.007345683467150424,
+            "object_to_gripper_z": 0.010813471561242238,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.379501049161327,
+              0.19464301542942816,
+              1.1632531505048713
+            ],
+            "finger_b": [
+              0.36807528992441846,
+              0.21880961815725677,
+              1.1632531505048713
+            ],
+            "finger_midpoint": [
+              0.37378816954287275,
+              0.20672631679334247,
+              1.1632531505048713
+            ],
+            "object_minus_finger_midpoint": [
+              0.005712879618454236,
+              0.012083301363914306,
+              0.0
+            ],
+            "finger_gap": 0.02673149194385704,
+            "fingertip_max_gap": 0.09071915507207248,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013365745971928508,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632531505048713,
+            "object_top_z": 1.2131597687738105,
+            "finger_top_clearance": 0.04990661826893916,
+            "fingertip_min_top_clearance": 0.014971985480681748,
+            "object_projection_between_fingers": 0.8173062290717488,
+            "object_to_finger_line_xy": 0.010329456542197957,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047859577536036244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5948443486020507,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32880680073071056,
+              -0.34017175044797354,
+              0.8515395802368486
+            ],
+            "target_position": [
+              0.31948263166955126,
+              -0.3424177398573935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009590860081781338,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18448764305235643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395802368486,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535584139884653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862602907054048,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15322155687807734,
+            "release_required_pad_clearance": 0.0531301453527024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2863153481528706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008202791213989258,
+            "max_z_decrease": 0.008202791213989258,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502108230504698,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008202791213989258,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021141506007907786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008202791213989258,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008202793959976017,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17518255114555364,
+              -0.3986791968345642,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17518255114555364,
+              -0.3986791968345642,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1734787127948497,
+              -0.39960980580983707,
+              0.8036665992745239
+            ],
+            "closest_button": [
+              0.17519730329513553,
+              -0.3986713588237763,
+              0.7687003016471863
+            ],
+            "closest_ee_minus_button": [
+              -0.0017185905002858326,
+              -0.0009384469860607703,
+              0.034966297627337606
+            ],
+            "button_min_z_position": [
+              0.17517779767513278,
+              -0.39867445826530457,
+              0.7686060667037964
+            ],
+            "min_active_finger_to_button": 0.1473885161196191,
+            "closest_active_finger": [
+              0.0328483060002327,
+              -0.3823759853839874,
+              0.807330310344696
+            ],
+            "closest_active_finger_button": [
+              0.17518915235996252,
+              -0.3986895978450775,
+              0.7727423906326294
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14234084635972982,
+              0.016313612461090088,
+              0.03458791971206665
+            ],
+            "min_contact_pad_to_button": 0.021141506007907786,
+            "closest_contact_pad": [
+              0.17519730329513553,
+              -0.4008892028696223,
+              0.7897251546566774
+            ],
+            "closest_contact_pad_button": [
+              0.17519730329513553,
+              -0.3986713588237763,
+              0.7687003016471863
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002217844045846018,
+              0.021024853009491085
+            ]
+          },
+          "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": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1eef105be8678c57eeb278fc31b65fd68c7f8863e1acfa68543a90ef309ceda7",
+    "visual_seed": 2408506868928572815,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae53b2e2d1a087da1e6ceb6842a39354c55dff8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_65_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3770145655068699,
+              0.21121844279058213,
+              1.16581613860001
+            ],
+            "current_z": 1.16581613860001,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3047094517713097,
+            "gripper_z": 1.154961355800385,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3717255181045847,
+              0.20626069353072637,
+              1.154961355800385
+            ],
+            "object_minus_gripper": [
+              0.005289047402285196,
+              0.004957749259855759,
+              0.01085478279962504
+            ],
+            "object_to_gripper_xy": 0.0072493654996296135,
+            "object_to_gripper_z": 0.01085478279962504,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3770145655068699,
+              0.18678030603575985,
+              1.16581613860001
+            ],
+            "finger_b": [
+              0.3661387637218852,
+              0.21121844279058213,
+              1.16581613860001
+            ],
+            "finger_midpoint": [
+              0.37157666461437755,
+              0.198999374413171,
+              1.16581613860001
+            ],
+            "object_minus_finger_midpoint": [
+              0.005437900892492353,
+              0.01221906837741113,
+              0.0
+            ],
+            "finger_gap": 0.02674893628751754,
+            "fingertip_max_gap": 0.09108073179997486,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013374468143758755,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16581613860001,
+            "object_top_z": 1.2157051348298658,
+            "finger_top_clearance": 0.04988899622985565,
+            "fingertip_min_top_clearance": 0.014966698868956662,
+            "object_projection_between_fingers": 0.8346860378117641,
+            "object_to_finger_line_xy": 0.009936257968651442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804036589998743,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9085788161891452,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3367668173571884,
+              -0.3356461177442228,
+              0.8515395773260317
+            ],
+            "target_position": [
+              0.3287651075004065,
+              -0.3376121583852466,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008239701234527724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18377688752987723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395773260317,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561987210927648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08690318345496127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15183968404925952,
+            "release_required_pad_clearance": 0.05345159172748064,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9167668320820204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008014857769012451,
+            "max_z_decrease": 0.008014857769012451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035007217485308134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008014857769012451,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021237039655080454,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008014857769012451,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008014880851223318,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1844650357961654,
+              -0.3938736021518706,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1844650357961654,
+              -0.3938736021518706,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18413555433517823,
+              -0.39305486254387717,
+              0.8037902272065706
+            ],
+            "closest_button": [
+              0.18444587290287015,
+              -0.3938752710819243,
+              0.7687940001487732
+            ],
+            "closest_ee_minus_button": [
+              -0.0003103185676919251,
+              0.0008204085380471571,
+              0.03499622705779737
+            ],
+            "button_min_z_position": [
+              0.18444587290287015,
+              -0.3938752710819243,
+              0.7687940001487732
+            ],
+            "min_active_finger_to_button": 0.14587504899212525,
+            "closest_active_finger": [
+              0.05694842338562012,
+              -0.45549529790878296,
+              0.808007538318634
+            ],
+            "closest_active_finger_button": [
+              0.18447713553905484,
+              -0.39387777447700495,
+              0.7730899453163147
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12752871215343473,
+              -0.06161752343177801,
+              0.034917593002319336
+            ],
+            "min_contact_pad_to_button": 0.021237039655080454,
+            "closest_contact_pad": [
+              0.18444587290287015,
+              -0.39429695290664973,
+              0.7900268529422665
+            ],
+            "closest_contact_pad_button": [
+              0.18444587290287015,
+              -0.3938752710819243,
+              0.7687940001487732
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00042168182472540616,
+              0.021232852793493295
+            ]
+          },
+          "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": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afc4d2b6b87c85ce1140cf694e65efe800c7d4a41d3d026f2d8bc2d2573f712e",
+    "visual_seed": 6075610944193057719,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f7fa3a2c3db0e372ee8ee1697c0508b9e8f4a6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_66_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38453145383980336,
+              0.21648031368091536,
+              1.1636842685016153
+            ],
+            "current_z": 1.1636842685016153,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30257782009149403,
+            "gripper_z": 1.1528224365337583,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37916783825278816,
+              0.21142908916555422,
+              1.1528224365337583
+            ],
+            "object_minus_gripper": [
+              0.0053636155870152025,
+              0.005051224515361136,
+              0.01086183196785706
+            ],
+            "object_to_gripper_xy": 0.007367716150195919,
+            "object_to_gripper_z": 0.01086183196785706,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38453145383980336,
+              0.19204480865530357,
+              1.1636842685016153
+            ],
+            "finger_b": [
+              0.373442465551848,
+              0.21648031368091536,
+              1.1636842685016153
+            ],
+            "finger_midpoint": [
+              0.3789869596958257,
+              0.20426256116810948,
+              1.1636842685016153
+            ],
+            "object_minus_finger_midpoint": [
+              0.005544494143977674,
+              0.01221775251280588,
+              0.0
+            ],
+            "finger_gap": 0.026833925674546944,
+            "fingertip_max_gap": 0.09074068646615788,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341696283727346,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636842685016153,
+            "object_top_z": 1.2135577084832017,
+            "finger_top_clearance": 0.04987343998158633,
+            "fingertip_min_top_clearance": 0.014962031994475898,
+            "object_projection_between_fingers": 0.8292284876591057,
+            "object_to_finger_line_xy": 0.010097852708010722,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787034323307894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7324302382027044,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3361719573169073,
+              -0.3368017887377649,
+              0.85153952242068
+            ],
+            "target_position": [
+              0.3280208086921208,
+              -0.3386850872177474,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008365885312868167,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18402190419866507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153952242068,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535107243292673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642737205560168,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15264773389875397,
+            "release_required_pad_clearance": 0.05321368602780084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4493952399182188,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008147120475769043,
+            "max_z_decrease": 0.008147120475769043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021763503531846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008147120475769043,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02119601445327172,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008147120475769043,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008147128635136228,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18372073769569397,
+              -0.3949465453624725,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18372073769569397,
+              -0.3949465453624725,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18479784676773356,
+              -0.39445824997779544,
+              0.8036632555723215
+            ],
+            "closest_button": [
+              0.1837100237607956,
+              -0.3949422836303711,
+              0.7686617374420166
+            ],
+            "closest_ee_minus_button": [
+              0.0010878230069379657,
+              0.000484033652575655,
+              0.03500151813030494
+            ],
+            "button_min_z_position": [
+              0.1837100237607956,
+              -0.3949422836303711,
+              0.7686617374420166
+            ],
+            "min_active_finger_to_button": 0.14477461624721713,
+            "closest_active_finger": [
+              0.05799971520900726,
+              -0.45771506428718567,
+              0.8077898025512695
+            ],
+            "closest_active_finger_button": [
+              0.18373335897922516,
+              -0.3949511349201202,
+              0.7729842066764832
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257336437702179,
+              -0.06276392936706549,
+              0.03480559587478638
+            ],
+            "min_contact_pad_to_button": 0.02119601445327172,
+            "closest_contact_pad": [
+              0.1837100237607956,
+              -0.3956186674695627,
+              0.789846957138904
+            ],
+            "closest_contact_pad_button": [
+              0.1837100237607956,
+              -0.3949422836303711,
+              0.7686617374420166
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006763838391916077,
+              0.02118521969688736
+            ]
+          },
+          "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": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b9abed7ac63d65daa2d3b4337e3e347af2d85c0f2d0c2b483c15febc2a14282",
+    "visual_seed": 2825053450924839090,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..492348091708fc6f0e4aa1f6435eb1322ffdb086
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_67_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3806770123469288,
+              0.22093178981758074,
+              1.1647510842399251
+            ],
+            "current_z": 1.1647510842399251,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30364457622515906,
+            "gripper_z": 1.1538877739869065,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37559537141934407,
+              0.21607517650623886,
+              1.1538877739869065
+            ],
+            "object_minus_gripper": [
+              0.00508164092758473,
+              0.004856613311341879,
+              0.010863310253018676
+            ],
+            "object_to_gripper_xy": 0.007029208161152102,
+            "object_to_gripper_z": 0.010863310253018676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3806770123469288,
+              0.19681828711037375,
+              1.1647510842399251
+            ],
+            "finger_b": [
+              0.36972174410242176,
+              0.22093178981758074,
+              1.1647510842399251
+            ],
+            "finger_midpoint": [
+              0.3751993782246753,
+              0.20887503846397726,
+              1.1647510842399251
+            ],
+            "object_minus_finger_midpoint": [
+              0.005477634122253494,
+              0.012056751353603484,
+              0.0
+            ],
+            "finger_gap": 0.026485447232765084,
+            "fingertip_max_gap": 0.0909211992981985,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013242723616382518,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647510842399251,
+            "object_top_z": 1.2146101105680311,
+            "finger_top_clearance": 0.049859026328106015,
+            "fingertip_min_top_clearance": 0.01495770789843177,
+            "object_projection_between_fingers": 0.8289073274730652,
+            "object_to_finger_line_xy": 0.009974152528007759,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796059964909925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7537808738993969,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3351818788564847,
+              -0.3332750695253709,
+              0.8515395817162565
+            ],
+            "target_position": [
+              0.32627285263154027,
+              -0.33523218867156784,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009121461704636952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492595267559192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395817162565,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751709571827126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525075222059912,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15404548218319136,
+            "release_required_pad_clearance": 0.05262537611029956,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.311532649726298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007953941822052002,
+            "max_z_decrease": 0.007953941822052002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350894055490283,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007953941822052002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021167021350135803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007953941822052002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007953962215495223,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18197277188301086,
+              -0.3914936482906341,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18197277188301086,
+              -0.3914936482906341,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18280155976955892,
+              -0.3917349987528748,
+              0.8076994388978442
+            ],
+            "closest_button": [
+              0.18196097016334534,
+              -0.39149615168571467,
+              0.7726209163665771
+            ],
+            "closest_ee_minus_button": [
+              0.000840589606213582,
+              -0.0002388470671601528,
+              0.03507852253126709
+            ],
+            "button_min_z_position": [
+              0.18195503950119019,
+              -0.3914968073368072,
+              0.7688549160957336
+            ],
+            "min_active_finger_to_button": 0.14539145301757678,
+            "closest_active_finger": [
+              0.04139549285173416,
+              -0.3780381679534912,
+              0.808783769607544
+            ],
+            "closest_active_finger_button": [
+              0.18197964131832123,
+              -0.39149984717369074,
+              0.7742359042167664
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14058414846658707,
+              0.01346167922019953,
+              0.03454786539077759
+            ],
+            "min_contact_pad_to_button": 0.021167021350135803,
+            "closest_contact_pad": [
+              0.18195503950119019,
+              -0.3927170755939078,
+              0.7899867342432054
+            ],
+            "closest_contact_pad_button": [
+              0.18195503950119019,
+              -0.3914968073368072,
+              0.7688549160957336
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012202682571005874,
+              0.02113181814747178
+            ]
+          },
+          "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": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ada1b631230059f6129eba1ec967bf4f7b0e855594910e225291942fc325fc6e",
+    "visual_seed": 10667555538986833,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..743739f0fee04f5303786fd57b5b7694f1498f7a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_68_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.383469651400113,
+              0.21630452265552005,
+              1.165419951129067
+            ],
+            "current_z": 1.165419951129067,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3043134431143011,
+            "gripper_z": 1.1545825717788414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.378069720502979,
+              0.21120905069014295,
+              1.1545825717788414
+            ],
+            "object_minus_gripper": [
+              0.005399930897134031,
+              0.005095471965377102,
+              0.010837379350225662
+            ],
+            "object_to_gripper_xy": 0.00742449245698093,
+            "object_to_gripper_z": 0.010837379350225662,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.383469651400113,
+              0.1919627407217761,
+              1.165419951129067
+            ],
+            "finger_b": [
+              0.37216556846708876,
+              0.21630452265552005,
+              1.165419951129067
+            ],
+            "finger_midpoint": [
+              0.3778176099336009,
+              0.20413363168864807,
+              1.165419951129067
+            ],
+            "object_minus_finger_midpoint": [
+              0.005652041466512103,
+              0.012170890966871989,
+              0.0
+            ],
+            "finger_gap": 0.026838491736061357,
+            "fingertip_max_gap": 0.09059637612819046,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341924586803068,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165419951129067,
+            "object_top_z": 1.2153188486851239,
+            "finger_top_clearance": 0.04989889755605681,
+            "fingertip_min_top_clearance": 0.01496966926681701,
+            "object_projection_between_fingers": 0.8225996556217797,
+            "object_to_finger_line_xy": 0.010252495722288073,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047798188064095234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4930073356625458,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3382244416898956,
+              -0.33444635383444576,
+              0.8515395049657705
+            ],
+            "target_position": [
+              0.3285702821041147,
+              -0.3368449177398746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009947658323251346,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18496245089336477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395049657705,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533677048343095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852633395863923,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537616163287527,
+            "release_required_pad_clearance": 0.052631669793196154,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.32385098585222194,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008157968521118164,
+            "max_z_decrease": 0.008157968521118164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035114599889064534,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008157968521118164,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021227075829899578,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008157968521118164,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008158011775516595,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18427020311355585,
+              -0.39310637116432184,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18427020311355585,
+              -0.39310637116432184,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18198229388594336,
+              -0.39145858043911597,
+              0.8078112117689752
+            ],
+            "closest_button": [
+              0.1842826902866363,
+              -0.3931153416633606,
+              0.772811233997345
+            ],
+            "closest_ee_minus_button": [
+              -0.0023003964006929334,
+              0.0016567612242446295,
+              0.03499997777163022
+            ],
+            "button_min_z_position": [
+              0.18424366414546958,
+              -0.39310756325721735,
+              0.7686508893966675
+            ],
+            "min_active_finger_to_button": 0.14774605094693918,
+            "closest_active_finger": [
+              0.05362536013126373,
+              -0.45250463485717773,
+              0.8078892827033997
+            ],
+            "closest_active_finger_button": [
+              0.1842826902866363,
+              -0.3931153416633606,
+              0.772811233997345
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13065733015537256,
+              -0.05938929319381714,
+              0.03507804870605469
+            ],
+            "min_contact_pad_to_button": 0.021227075829899578,
+            "closest_contact_pad": [
+              0.18424366414546958,
+              -0.39310756325721735,
+              0.7898779652265671
+            ],
+            "closest_contact_pad_button": [
+              0.18424366414546958,
+              -0.39310756325721735,
+              0.7686508893966675
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021227075829899578
+            ]
+          },
+          "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": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2c37ddc93d8195a99d700910459957327c1043cccdcbe37d712165fdfc19c43",
+    "visual_seed": 5376149203447599823,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c00cc705b153b506025623f444085b54b5f42940
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_69_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3827059444449946,
+              0.2097201517767374,
+              1.1637432856312253
+            ],
+            "current_z": 1.1637432856312253,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3026368372211041,
+            "gripper_z": 1.1529410919557814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3774909483079675,
+              0.20461456318952748,
+              1.1529410919557814
+            ],
+            "object_minus_gripper": [
+              0.005214996137027139,
+              0.005105588587209914,
+              0.010802193675443883
+            ],
+            "object_to_gripper_xy": 0.007298165490796719,
+            "object_to_gripper_z": 0.010802193675443883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3827059444449946,
+              0.18569539528891138,
+              1.1637432856312253
+            ],
+            "finger_b": [
+              0.37115555498065234,
+              0.2097201517767374,
+              1.1637432856312253
+            ],
+            "finger_midpoint": [
+              0.3769307497128235,
+              0.19770777353282437,
+              1.1637432856312253
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057751947321711405,
+              0.012012378243913019,
+              0.0
+            ],
+            "finger_gap": 0.02665708950874658,
+            "fingertip_max_gap": 0.09092397173417247,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013328544754373303,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637432856312253,
+            "object_top_z": 1.2136334095188421,
+            "finger_top_clearance": 0.04989012388761682,
+            "fingertip_min_top_clearance": 0.014967037166285046,
+            "object_projection_between_fingers": 0.8122552522897093,
+            "object_to_finger_line_xy": 0.010409812148821569,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047961985867086235,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6909943665095453,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32888468426083295,
+              -0.3390048992721112,
+              0.8515395697525667
+            ],
+            "target_position": [
+              0.3197330446807743,
+              -0.34106025912591703,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00937960612882721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840131686383031,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395697525667,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550976953267348,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561450665503083,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522191697430491,
+            "release_required_pad_clearance": 0.052807253327515416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6608613928261046,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797492265701294,
+            "max_z_decrease": 0.00797492265701294,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513588700407729,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797492265701294,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114546348660914,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00797492265701294,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797494327207185,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17543296515941614,
+              -0.397321730852127,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17543296515941614,
+              -0.397321730852127,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17690044946047553,
+              -0.39713485141214877,
+              0.8053154428945022
+            ],
+            "closest_button": [
+              0.17541551589965815,
+              -0.39732402563095087,
+              0.7702114582061768
+            ],
+            "closest_ee_minus_button": [
+              0.0014849335608173864,
+              0.00018917421880210172,
+              0.03510398468832543
+            ],
+            "button_min_z_position": [
+              0.17541506886482233,
+              -0.397324651479721,
+              0.7688339352607727
+            ],
+            "min_active_finger_to_button": 0.14454768501232823,
+            "closest_active_finger": [
+              0.03591329604387283,
+              -0.3819405436515808,
+              0.809264600276947
+            ],
+            "closest_active_finger_button": [
+              0.1754385977983474,
+              -0.39732745289802546,
+              0.7747687101364136
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13952530175447456,
+              0.015386909246444647,
+              0.03449589014053345
+            ],
+            "min_contact_pad_to_button": 0.02114546348660914,
+            "closest_contact_pad": [
+              0.17541506886482233,
+              -0.3982372615823446,
+              0.7899596960485907
+            ],
+            "closest_contact_pad_button": [
+              0.17541506886482233,
+              -0.397324651479721,
+              0.7688339352607727
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009126101026236122,
+              0.021125760787818026
+            ]
+          },
+          "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": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29ae90aa4acbac422a77531490db732c9199772cd0dc03a285d811ebcd6adaeb",
+    "visual_seed": 5615359001569284664,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14571ebf221593b87f635b7b153ab7cd3599fd76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_6_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37995881088086186,
+              0.2152095257071927,
+              1.1645663097510974
+            ],
+            "current_z": 1.1645663097510974,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30345980173633136,
+            "gripper_z": 1.153732428697476,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.374925385493867,
+              0.21039175650630204,
+              1.153732428697476
+            ],
+            "object_minus_gripper": [
+              0.005033425386994861,
+              0.004817769200890665,
+              0.010833881053621486
+            ],
+            "object_to_gripper_xy": 0.006967515425135063,
+            "object_to_gripper_z": 0.010833881053621486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37995881088086186,
+              0.1910885096746055,
+              1.1645663097510974
+            ],
+            "finger_b": [
+              0.36911279705751343,
+              0.2152095257071927,
+              1.1645663097510974
+            ],
+            "finger_midpoint": [
+              0.3745358039691876,
+              0.2031490176908991,
+              1.1645663097510974
+            ],
+            "object_minus_finger_midpoint": [
+              0.005423006911674244,
+              0.012060508016293603,
+              0.0
+            ],
+            "finger_gap": 0.026447295330536056,
+            "fingertip_max_gap": 0.09090593767373653,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01322364766526804,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645663097510974,
+            "object_top_z": 1.214430662539153,
+            "finger_top_clearance": 0.049864352788055566,
+            "fingertip_min_top_clearance": 0.014959305836416702,
+            "object_projection_between_fingers": 0.8318186720197467,
+            "object_to_finger_line_xy": 0.0098920086176293,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795296883686827,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8301993333203226,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33162473990380203,
+              -0.33315015582694285,
+              0.851539657531161
+            ],
+            "target_position": [
+              0.32296717636975425,
+              -0.33507911598106005,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008869853077827491,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473826998699425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539657531161,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753963208970359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08750965459479103,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15315756324686586,
+            "release_required_pad_clearance": 0.053754827297395516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.518553237459354,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008108377456665039,
+            "max_z_decrease": 0.008108377456665039,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503839375378788,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008108377456665039,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02116687635282286,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008108377456665039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008108388778980825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17866709828376764,
+              -0.39134058356285095,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17866709828376764,
+              -0.39134058356285095,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17735055494153554,
+              -0.392705788815862,
+              0.8036868573340671
+            ],
+            "closest_button": [
+              0.17867073416709894,
+              -0.3913275301456451,
+              0.7687004804611206
+            ],
+            "closest_ee_minus_button": [
+              -0.001320179225563406,
+              -0.001378258670216903,
+              0.03498637687294648
+            ],
+            "button_min_z_position": [
+              0.17867073416709894,
+              -0.3913275301456451,
+              0.7687004804611206
+            ],
+            "min_active_finger_to_button": 0.14694580522985493,
+            "closest_active_finger": [
+              0.036515310406684875,
+              -0.3774629235267639,
+              0.8094927072525024
+            ],
+            "closest_active_finger_button": [
+              0.1786711513996124,
+              -0.3913462460041046,
+              0.7749667763710022
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14215584099292752,
+              0.013883322477340698,
+              0.034525930881500244
+            ],
+            "min_contact_pad_to_button": 0.02116687635282286,
+            "closest_contact_pad": [
+              0.17867073416709894,
+              -0.39380718121611,
+              0.7897216123313229
+            ],
+            "closest_contact_pad_button": [
+              0.17867073416709894,
+              -0.3913275301456451,
+              0.7687004804611206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002479651070464939,
+              0.02102113187020227
+            ]
+          },
+          "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": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8e76b2906199f4ec70158ed88a7529949174d72df6bb783dc54ce4492cd88b9",
+    "visual_seed": 8501170447408439410,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ffb2149969440ad5e91e740678bd28e578747e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_70_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38229602079942115,
+              0.21311088795832817,
+              1.164818403940938
+            ],
+            "current_z": 1.164818403940938,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.303711895926172,
+            "gripper_z": 1.1540053638106984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.376935914894181,
+              0.20799809832872318,
+              1.1540053638106984
+            ],
+            "object_minus_gripper": [
+              0.0053601059052401645,
+              0.005112789629604986,
+              0.010813040130239537
+            ],
+            "object_to_gripper_xy": 0.007407520037906531,
+            "object_to_gripper_z": 0.010813040130239537,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38229602079942115,
+              0.18890535857879304,
+              1.164818403940938
+            ],
+            "finger_b": [
+              0.3708297505237453,
+              0.21311088795832817,
+              1.164818403940938
+            ],
+            "finger_midpoint": [
+              0.37656288566158325,
+              0.2010081232685606,
+              1.164818403940938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005733135137837908,
+              0.012102764689767564,
+              0.0
+            ],
+            "finger_gap": 0.02678400654454793,
+            "fingertip_max_gap": 0.09079174292037898,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392003272273953,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164818403940938,
+            "object_top_z": 1.2147193047052185,
+            "finger_top_clearance": 0.049900900764280554,
+            "fingertip_min_top_clearance": 0.014970270229284132,
+            "object_projection_between_fingers": 0.8167292048609711,
+            "object_to_finger_line_xy": 0.010362420632250784,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789587146018949,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6194453860485477,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3291381919050677,
+              -0.3311583571358761,
+              0.8515394941984948
+            ],
+            "target_position": [
+              0.31940768121627416,
+              -0.33341668462174745,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009989138165936414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18565830966527608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394941984948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533398743867234,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596582413874208,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15435473305914063,
+            "release_required_pad_clearance": 0.052982912069371044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0001369788306094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00796574354171753,
+            "max_z_decrease": 0.00796574354171753,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511122220865213,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00796574354171753,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021260255728709414,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00796574354171753,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007965768785778605,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17510761320590973,
+              -0.3896781504154205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17510761320590973,
+              -0.3896781504154205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1746188109814186,
+              -0.39109632262469085,
+              0.8061247475870627
+            ],
+            "closest_button": [
+              0.17509117722511294,
+              -0.38968038558959955,
+              0.7710452675819397
+            ],
+            "closest_ee_minus_button": [
+              -0.0004723662436943443,
+              -0.001415937035091297,
+              0.035079480005122954
+            ],
+            "button_min_z_position": [
+              0.17508773505687714,
+              -0.38968080282211304,
+              0.7688431143760681
+            ],
+            "min_active_finger_to_button": 0.14636283232628972,
+            "closest_active_finger": [
+              0.03357367962598801,
+              -0.3755272626876831,
+              0.8096022009849548
+            ],
+            "closest_active_finger_button": [
+              0.17511166632175448,
+              -0.38968285918235773,
+              0.775124728679657
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14153798669576648,
+              0.014155596494674627,
+              0.03447747230529785
+            ],
+            "min_contact_pad_to_button": 0.021260255728709414,
+            "closest_contact_pad": [
+              0.17508773505687714,
+              -0.39227519570292047,
+              0.7899444792425913
+            ],
+            "closest_contact_pad_button": [
+              0.17508773505687714,
+              -0.38968080282211304,
+              0.7688431143760681
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002594392880807428,
+              0.021101364866523142
+            ]
+          },
+          "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": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c67787122a8634b014ff531e07fcfbb09bcf8d62531a3a7b02a4a4889caddba5",
+    "visual_seed": 1493520536577148143,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddcf55c0fd0ec95f654cbaf8a844b5ea1d207b78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_71_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37774682102370155,
+              0.21737241595138715,
+              1.1646079168728627
+            ],
+            "current_z": 1.1646079168728627,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3035014684627415,
+            "gripper_z": 1.1537577988320682,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3726567361753328,
+              0.2125230606835931,
+              1.1537577988320682
+            ],
+            "object_minus_gripper": [
+              0.005090084848368759,
+              0.004849355267794037,
+              0.010850118040794499
+            ],
+            "object_to_gripper_xy": 0.0070303065563938946,
+            "object_to_gripper_z": 0.010850118040794499,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37774682102370155,
+              0.19318309117726937,
+              1.1646079168728627
+            ],
+            "finger_b": [
+              0.36689588606069423,
+              0.21737241595138715,
+              1.1646079168728627
+            ],
+            "finger_midpoint": [
+              0.37232135354219786,
+              0.20527775356432826,
+              1.1646079168728627
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425467481503687,
+              0.012094662387058891,
+              0.0
+            ],
+            "finger_gap": 0.02651162429198111,
+            "fingertip_max_gap": 0.09097458764138752,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255812145990567,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646079168728627,
+            "object_top_z": 1.2145009051738682,
+            "finger_top_clearance": 0.049892988301005525,
+            "fingertip_min_top_clearance": 0.014967896490301657,
+            "object_projection_between_fingers": 0.8324819349889828,
+            "object_to_finger_line_xy": 0.00990044167163325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798729382069376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7402544134688588,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33544285620862124,
+              -0.3404561753053128,
+              0.8515395593815652
+            ],
+            "target_position": [
+              0.3269975330211884,
+              -0.3421702681949598,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008617516937873082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862281124722053,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395593815652,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527245683301892,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685583017752622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15498941262682284,
+            "release_required_pad_clearance": 0.053427915088763114,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.870053715911375,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008341550827026367,
+            "max_z_decrease": 0.008341550827026367,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035046628715858334,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008341550827026367,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021256487241553948,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008341550827026367,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008341631481348848,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18269746005535126,
+              -0.39843171834945673,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18269746005535126,
+              -0.39843171834945673,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18366984516850682,
+              -0.39995181711262495,
+              0.8038290423277369
+            ],
+            "closest_button": [
+              0.18267840147018433,
+              -0.3984255492687225,
+              0.7688297033309937
+            ],
+            "closest_ee_minus_button": [
+              0.0009914436983224917,
+              -0.0015262678439024735,
+              0.034999338996743234
+            ],
+            "button_min_z_position": [
+              0.1826641708612442,
+              -0.3984163105487823,
+              0.7684673070907593
+            ],
+            "min_active_finger_to_button": 0.14477742503394475,
+            "closest_active_finger": [
+              0.04279983043670654,
+              -0.38493165373802185,
+              0.8075197339057922
+            ],
+            "closest_active_finger_button": [
+              0.18270835280418396,
+              -0.3984387516975402,
+              0.7728258371353149
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13990852236747742,
+              0.013507097959518377,
+              0.034693896770477295
+            ],
+            "min_contact_pad_to_button": 0.021256487241553948,
+            "closest_contact_pad": [
+              0.1826641708612442,
+              -0.4010288666383887,
+              0.7895626335999415
+            ],
+            "closest_contact_pad_button": [
+              0.1826641708612442,
+              -0.3984163105487823,
+              0.7684673070907593
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026125560896064215,
+              0.021095326509182222
+            ]
+          },
+          "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": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9e506d4f3c7aeb309e41090c58cd40d1a0a2ca1e517e870b072c7cd872b21dd",
+    "visual_seed": 5630787058116145527,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..553284dbdc9850c05edaa4cefeafe7d0a1d087ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_72_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37967539349579443,
+              0.2187438919817469,
+              1.162645396283223
+            ],
+            "current_z": 1.162645396283223,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3015388882684571,
+            "gripper_z": 1.1517748066445868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37423811572728904,
+              0.21368973470231503,
+              1.1517748066445868
+            ],
+            "object_minus_gripper": [
+              0.005437277768505389,
+              0.00505415727943187,
+              0.010870589638636297
+            ],
+            "object_to_gripper_xy": 0.007423509637436804,
+            "object_to_gripper_z": 0.010870589638636297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37967539349579443,
+              0.19423180321644107,
+              1.162645396283223
+            ],
+            "finger_b": [
+              0.36861862207161505,
+              0.2187438919817469,
+              1.162645396283223
+            ],
+            "finger_midpoint": [
+              0.37414700778370474,
+              0.206487847599094,
+              1.162645396283223
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055283857120896895,
+              0.012256044382652903,
+              0.0
+            ],
+            "finger_gap": 0.02689042004069074,
+            "fingertip_max_gap": 0.09096960567338666,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013445210020345356,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162645396283223,
+            "object_top_z": 1.2125631006256823,
+            "finger_top_clearance": 0.049917704342459235,
+            "fingertip_min_top_clearance": 0.014975311302737736,
+            "object_projection_between_fingers": 0.8309319705659794,
+            "object_to_finger_line_xy": 0.010078851955345674,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798480283669333,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7626144740002015,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3364177632022376,
+              -0.3338326174205216,
+              0.8515395729430241
+            ],
+            "target_position": [
+              0.32864290156901294,
+              -0.33544451557389265,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00794019452360141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856666968628053,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395729430241,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531830512105986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654308678893473,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15439359396121682,
+            "release_required_pad_clearance": 0.053271543394467366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5626918326643005,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007876396179199219,
+            "max_z_decrease": 0.007876396179199219,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502918714520002,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007876396179199219,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021348324996210713,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007876396179199219,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00787641394799974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1843428313732146,
+              -0.3917059600353241,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1843428313732146,
+              -0.3917059600353241,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18339689997949904,
+              -0.3932198671318549,
+              0.8042201616531219
+            ],
+            "closest_button": [
+              0.1843266338109969,
+              -0.39170798659324646,
+              0.7692359685897827
+            ],
+            "closest_ee_minus_button": [
+              -0.0009297338314978587,
+              -0.0015118805386084566,
+              0.03498419306333922
+            ],
+            "button_min_z_position": [
+              0.18432623147964466,
+              -0.39170804619789124,
+              0.7689324617385864
+            ],
+            "min_active_finger_to_button": 0.14668938783637617,
+            "closest_active_finger": [
+              0.04264146089553833,
+              -0.37693384289741516,
+              0.8080956339836121
+            ],
+            "closest_active_finger_button": [
+              0.1843530237674712,
+              -0.39171043038368225,
+              0.773206353187561
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14171156287193287,
+              0.01477658748626709,
+              0.034889280796051025
+            ],
+            "min_contact_pad_to_button": 0.021348324996210713,
+            "closest_contact_pad": [
+              0.18432623147964466,
+              -0.3944248924391044,
+              0.7901072043968914
+            ],
+            "closest_contact_pad_button": [
+              0.18432623147964466,
+              -0.39170804619789124,
+              0.7689324617385864
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027168462412131555,
+              0.02117474265830499
+            ]
+          },
+          "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": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3e27aa7a5dd44f3f9ea5a3f1c6565ef6f769c9d194367f78c2f8283679e8f62",
+    "visual_seed": 1478101570113185658,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c967c72e287f533855c1b5acd59161f426c11cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_73_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37908102893793216,
+              0.2138370935204789,
+              1.1647507149102097
+            ],
+            "current_z": 1.1647507149102097,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30364426650008847,
+            "gripper_z": 1.1539183900153656,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3735917138009399,
+              0.20869784250397427,
+              1.1539183900153656
+            ],
+            "object_minus_gripper": [
+              0.0054893151369922455,
+              0.005139251016504615,
+              0.010832324894844092
+            ],
+            "object_to_gripper_xy": 0.0075196064846410615,
+            "object_to_gripper_z": 0.010832324894844092,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37908102893793216,
+              0.18937003231776572,
+              1.1647507149102097
+            ],
+            "finger_b": [
+              0.36779058343743526,
+              0.2138370935204789,
+              1.1647507149102097
+            ],
+            "finger_midpoint": [
+              0.3734358061876837,
+              0.2016035629191223,
+              1.1647507149102097
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564522275024848,
+              0.012233530601356596,
+              0.0
+            ],
+            "finger_gap": 0.026946451408246735,
+            "fingertip_max_gap": 0.09086573654757582,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013473225704123392,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647507149102097,
+            "object_top_z": 1.2146704090369587,
+            "finger_top_clearance": 0.049919694126749015,
+            "fingertip_min_top_clearance": 0.014975908238024704,
+            "object_projection_between_fingers": 0.8244426584199877,
+            "object_to_finger_line_xy": 0.010251591828600241,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793286827378791,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6675736417458834,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 376,
+            "max_stable_success_frames": 376,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3363173739521909,
+              -0.3325284834865112,
+              0.8515395858965831
+            ],
+            "target_position": [
+              0.32791405562679415,
+              -0.3347025918825491,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00868000611726002,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480316910587247,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395858965831,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573453523737386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08728517763521058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15263125174990516,
+            "release_required_pad_clearance": 0.053642588817605294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2951309592388207,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008158624172210693,
+            "max_z_decrease": 0.008158624172210693,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505279837335435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008158624172210693,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114925045431315,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008158624172210693,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008158625603836915,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18361398577690125,
+              -0.39096406102180475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18361398577690125,
+              -0.39096406102180475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18306580785017182,
+              -0.38903434646886614,
+              0.8036457909338061
+            ],
+            "closest_button": [
+              0.1836160272359848,
+              -0.39095968008041376,
+              0.768650233745575
+            ],
+            "closest_ee_minus_button": [
+              -0.0005502193858129834,
+              0.0019253336115476194,
+              0.03499555718823111
+            ],
+            "button_min_z_position": [
+              0.1836160272359848,
+              -0.39095968008041376,
+              0.768650233745575
+            ],
+            "min_active_finger_to_button": 0.1455446118007923,
+            "closest_active_finger": [
+              0.056414343416690826,
+              -0.45258060097694397,
+              0.8096187710762024
+            ],
+            "closest_active_finger_button": [
+              0.1836208999156952,
+              -0.390967309474945,
+              0.7748980522155762
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12720655649900436,
+              -0.06161329150199896,
+              0.03472071886062622
+            ],
+            "min_contact_pad_to_button": 0.02114925045431315,
+            "closest_contact_pad": [
+              0.1836160272359848,
+              -0.39095968008041376,
+              0.7897994841998881
+            ],
+            "closest_contact_pad_button": [
+              0.1836160272359848,
+              -0.39095968008041376,
+              0.768650233745575
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02114925045431315
+            ]
+          },
+          "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": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d57338df0f8ae00e72a1c885cb2d5930e93f05f70864c086123e905eca54f3d",
+    "visual_seed": 7071802615483170754,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8881b36c92cec8cd520243fb82c7786d347a35b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_74_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37979067616100926,
+              0.21317423818868544,
+              1.1641890736113054
+            ],
+            "current_z": 1.1641890736113054,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3030826252011841,
+            "gripper_z": 1.1533361707099077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37434772548326994,
+              0.2081326145514948,
+              1.1533361707099077
+            ],
+            "object_minus_gripper": [
+              0.005442950677739311,
+              0.005041623637190656,
+              0.010852902901397732
+            ],
+            "object_to_gripper_xy": 0.007419142873633205,
+            "object_to_gripper_z": 0.010852902901397732,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37979067616100926,
+              0.18865929534536763,
+              1.1641890736113054
+            ],
+            "finger_b": [
+              0.368753097052988,
+              0.21317423818868544,
+              1.1641890736113054
+            ],
+            "finger_midpoint": [
+              0.3742718866069986,
+              0.20091676676702652,
+              1.1641890736113054
+            ],
+            "object_minus_finger_midpoint": [
+              0.005518789554010639,
+              0.012257471421658922,
+              0.0
+            ],
+            "finger_gap": 0.02688513669626709,
+            "fingertip_max_gap": 0.09104818370784631,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013442568348133557,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641890736113054,
+            "object_top_z": 1.2140800293983913,
+            "finger_top_clearance": 0.04989095578708591,
+            "fingertip_min_top_clearance": 0.014967286736125806,
+            "object_projection_between_fingers": 0.8314521719110152,
+            "object_to_finger_line_xy": 0.010064506051007357,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802409185392316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8517218598780286,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33074046190701745,
+              -0.33609005209727816,
+              0.8515395214818734
+            ],
+            "target_position": [
+              0.3228947158100246,
+              -0.3377103554709849,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008011311680450576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18454768162613708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395214818734,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523707709404495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638589643792109,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15350483893397437,
+            "release_required_pad_clearance": 0.05319294821896055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.408867140088539,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007924497127532959,
+            "max_z_decrease": 0.007924497127532959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035093888329217136,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007924497127532959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021360621405836264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007924497127532959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007924520212483141,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17859464883804319,
+              -0.39397180080413813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17859464883804319,
+              -0.39397180080413813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1798768286283438,
+              -0.395467000692017,
+              0.803998937858289
+            ],
+            "closest_button": [
+              0.17857509851455686,
+              -0.3939749896526336,
+              0.7689609527587891
+            ],
+            "closest_ee_minus_button": [
+              0.001301730113786953,
+              -0.0014920110393834007,
+              0.03503798509949996
+            ],
+            "button_min_z_position": [
+              0.17857579886913297,
+              -0.3939750492572784,
+              0.7688843607902527
+            ],
+            "min_active_finger_to_button": 0.14449262165333598,
+            "closest_active_finger": [
+              0.039190053939819336,
+              -0.3787710666656494,
+              0.8079517483711243
+            ],
+            "closest_active_finger_button": [
+              0.17860554158687586,
+              -0.39397811889648426,
+              0.7731640338897705
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13941548764705652,
+              0.01520705223083485,
+              0.03478771448135376
+            ],
+            "min_contact_pad_to_button": 0.021360621405836264,
+            "closest_contact_pad": [
+              0.17857579886913297,
+              -0.3967041686509366,
+              0.790069923189647
+            ],
+            "closest_contact_pad_button": [
+              0.17857579886913297,
+              -0.3939750492572784,
+              0.7688843607902527
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002729119393658219,
+              0.021185562399394287
+            ]
+          },
+          "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": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c043b95a6f50c5cdbba35312f3247b91f386390ebf728a56bae61b1132dcfc60",
+    "visual_seed": 4146399896769272715,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a210e147d17827bd2a810977f8a4e041061bb6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_75_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3797989956549098,
+              0.21889123743111377,
+              1.1635897576541754
+            ],
+            "current_z": 1.1635897576541754,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3024833092440544,
+            "gripper_z": 1.1526812097583707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3747487879938876,
+              0.21408797054049858,
+              1.1526812097583707
+            ],
+            "object_minus_gripper": [
+              0.00505020766102221,
+              0.004803266890615193,
+              0.010908547895804643
+            ],
+            "object_to_gripper_xy": 0.006969646349846423,
+            "object_to_gripper_z": 0.010908547895804643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3797989956549098,
+              0.19476586932877182,
+              1.1635897576541754
+            ],
+            "finger_b": [
+              0.3689677004248572,
+              0.21889123743111377,
+              1.1635897576541754
+            ],
+            "finger_midpoint": [
+              0.3743833480398835,
+              0.2068285533799428,
+              1.1635897576541754
+            ],
+            "object_minus_finger_midpoint": [
+              0.005415647615026331,
+              0.012062684051170974,
+              0.0
+            ],
+            "finger_gap": 0.02644523288674272,
+            "fingertip_max_gap": 0.09088382455563274,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013222616443371372,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635897576541754,
+            "object_top_z": 1.2134170626836305,
+            "finger_top_clearance": 0.04982730502945509,
+            "fingertip_min_top_clearance": 0.014948191508836493,
+            "object_projection_between_fingers": 0.8322486610183907,
+            "object_to_finger_line_xy": 0.00988113757852955,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794191227781637,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7458145146329781,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3377691829984648,
+              -0.33230594219314513,
+              0.8515396609572811
+            ],
+            "target_position": [
+              0.3287508703207761,
+              -0.33451974473103585,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009286058648820409,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851397463216934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396609572811,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588756572399281,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865730630436534,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15251203993441192,
+            "release_required_pad_clearance": 0.053286531521826705,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5919689550275413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007903873920440674,
+            "max_z_decrease": 0.007903873920440674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501228499524111,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007903873920440674,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021328205468646975,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007903873920440674,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007903894302785212,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1844507902860641,
+              -0.3907811939716339,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1844507902860641,
+              -0.3907811939716339,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18356161544199612,
+              -0.3917176061830693,
+              0.8053267862771057
+            ],
+            "closest_button": [
+              0.18443450331687922,
+              -0.3907824158668518,
+              0.7703378796577454
+            ],
+            "closest_ee_minus_button": [
+              -0.0008728878748830993,
+              -0.0009351903162174713,
+              0.03498890661936038
+            ],
+            "button_min_z_position": [
+              0.18443292379379267,
+              -0.3907829225063324,
+              0.768904983997345
+            ],
+            "min_active_finger_to_button": 0.14683357029979227,
+            "closest_active_finger": [
+              0.042722418904304504,
+              -0.3750411868095398,
+              0.8081175088882446
+            ],
+            "closest_active_finger_button": [
+              0.18446156382560724,
+              -0.3907853662967682,
+              0.7731570601463318
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14173914492130274,
+              0.015744179487228394,
+              0.03496044874191284
+            ],
+            "min_contact_pad_to_button": 0.021328205468646975,
+            "closest_contact_pad": [
+              0.18443292379379267,
+              -0.39297467572346156,
+              0.7901202748590802
+            ],
+            "closest_contact_pad_button": [
+              0.18443292379379267,
+              -0.3907829225063324,
+              0.768904983997345
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021917532171291665,
+              0.021215290861735236
+            ]
+          },
+          "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": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dacc095571785acb7757c3100417877cc794ce6c627881f24cc6fa6226e52b62",
+    "visual_seed": 605261571825147190,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e58560adc865c0a7367c14d9acf9fc967554e1d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_76_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3838007144628554,
+              0.2178171050390655,
+              1.1623033027507899
+            ],
+            "current_z": 1.1623033027507899,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3011966159220898,
+            "gripper_z": 1.1514586576423078,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3787364551324914,
+              0.2127499300308438,
+              1.1514586576423078
+            ],
+            "object_minus_gripper": [
+              0.005064259330364029,
+              0.005067175008221708,
+              0.010844645108482043
+            ],
+            "object_to_gripper_xy": 0.0071640062206230525,
+            "object_to_gripper_z": 0.010844645108482043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3838007144628554,
+              0.1938445072968419,
+              1.1623033027507899
+            ],
+            "finger_b": [
+              0.3723692874032779,
+              0.2178171050390655,
+              1.1623033027507899
+            ],
+            "finger_midpoint": [
+              0.37808500093306663,
+              0.2058308061679537,
+              1.1623033027507899
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057157135297887796,
+              0.0119862988711118,
+              0.0
+            ],
+            "finger_gap": 0.0265586702816407,
+            "fingertip_max_gap": 0.09075698677291452,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013279335140820362,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623033027507899,
+            "object_top_z": 1.2121815814515713,
+            "finger_top_clearance": 0.04987827870078143,
+            "fingertip_min_top_clearance": 0.014963483610234429,
+            "object_projection_between_fingers": 0.814737191051654,
+            "object_to_finger_line_xy": 0.01031832541361298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787849338645726,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6297985935525405,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3347113146408257,
+              -0.34040362420107095,
+              0.8515395715787079
+            ],
+            "target_position": [
+              0.3265647876881856,
+              -0.3421126379502328,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008323859044032166,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480034515298327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395715787079,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519251965795358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0849653304207905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15396829566289863,
+            "release_required_pad_clearance": 0.052482665210395255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956467971907742,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008074700832366943,
+            "max_z_decrease": 0.008074700832366943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351086835551425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008074700832366943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021064993257839726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008074700832366943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008074702824063728,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1822647154331207,
+              -0.3983741104602813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1822647154331207,
+              -0.3983741104602813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18096259106781218,
+              -0.3967253699912924,
+              0.8037801545956487
+            ],
+            "closest_button": [
+              0.18226559460163116,
+              -0.3983685076236725,
+              0.7687341570854187
+            ],
+            "closest_ee_minus_button": [
+              -0.001303003533818986,
+              0.0016431376323801095,
+              0.035045997510229965
+            ],
+            "button_min_z_position": [
+              0.18226559460163116,
+              -0.3983685076236725,
+              0.7687341570854187
+            ],
+            "min_active_finger_to_button": 0.14621123133674432,
+            "closest_active_finger": [
+              0.05495445430278778,
+              -0.4614863395690918,
+              0.8109248876571655
+            ],
+            "closest_active_finger_button": [
+              0.18226724863052368,
+              -0.3983759880065918,
+              0.7764827609062195
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273127943277359,
+              -0.0631103515625,
+              0.034442126750946045
+            ],
+            "min_contact_pad_to_button": 0.021064993257839726,
+            "closest_contact_pad": [
+              0.18226559460163116,
+              -0.3983685076236725,
+              0.7897991503432584
+            ],
+            "closest_contact_pad_button": [
+              0.18226559460163116,
+              -0.3983685076236725,
+              0.7687341570854187
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021064993257839726
+            ]
+          },
+          "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": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d91eda237b74215595860af7ac3c2d034a2da2e0b5ffcc1cc080aa9b29c892b2",
+    "visual_seed": 5272760280018938711,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..232d53ffa11f1a801028737aca62895d8dce83e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_77_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3845614792527208,
+              0.21656315937185489,
+              1.163451935445297
+            ],
+            "current_z": 1.163451935445297,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30234548703517594,
+            "gripper_z": 1.1525903839149407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37927379321392707,
+              0.21158562250648633,
+              1.1525903839149407
+            ],
+            "object_minus_gripper": [
+              0.005287686038793704,
+              0.004977536865368559,
+              0.010861551530356284
+            ],
+            "object_to_gripper_xy": 0.007261921019327938,
+            "object_to_gripper_z": 0.010861551530356284,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3845614792527208,
+              0.1921285512122202,
+              1.163451935445297
+            ],
+            "finger_b": [
+              0.373650735811572,
+              0.21656315937185489,
+              1.163451935445297
+            ],
+            "finger_midpoint": [
+              0.37910610753214635,
+              0.20434585529203753,
+              1.163451935445297
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545537172057442,
+              0.01221730407981736,
+              0.0
+            ],
+            "finger_gap": 0.026759940178435703,
+            "fingertip_max_gap": 0.09093258853044459,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379970089217876,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163451935445297,
+            "object_top_z": 1.213367242924432,
+            "finger_top_clearance": 0.049915307479134974,
+            "fingertip_min_top_clearance": 0.014974592243740458,
+            "object_projection_between_fingers": 0.8337588972734681,
+            "object_to_finger_line_xy": 0.009962643374278273,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047966294265222295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7415682274485391,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 377,
+            "max_stable_success_frames": 377,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3347256535535975,
+              -0.3392223322436996,
+              0.8515395815205177
+            ],
+            "target_position": [
+              0.3269353170409446,
+              -0.34104256524011056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008000161944710664,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18502527769481839,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395815205177,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566992922575692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870726113857173,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15276214593411985,
+            "release_required_pad_clearance": 0.05353630569285865,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.084227673228035,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008042991161346436,
+            "max_z_decrease": 0.008042991161346436,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506581239668126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042991161346436,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021191563685704518,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008042991161346436,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008042998198588697,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18263524770736692,
+              -0.3973040282726287,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18263524770736692,
+              -0.3973040282726287,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18214528869401625,
+              -0.39521487043747217,
+              0.807435155037806
+            ],
+            "closest_button": [
+              0.18262462317943567,
+              -0.39730662107467646,
+              0.7724350690841675
+            ],
+            "closest_ee_minus_button": [
+              -0.0004793344854194248,
+              0.0020917506372042927,
+              0.03500008595363857
+            ],
+            "button_min_z_position": [
+              0.1826246082782745,
+              -0.3973040878772735,
+              0.7687658667564392
+            ],
+            "min_active_finger_to_button": 0.14583790909699815,
+            "closest_active_finger": [
+              0.0544629842042923,
+              -0.4575153589248657,
+              0.8078650832176208
+            ],
+            "closest_active_finger_button": [
+              0.1826481521129608,
+              -0.3973089456558227,
+              0.7730448842048645
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281851679086685,
+              -0.060206413269043024,
+              0.03482019901275635
+            ],
+            "min_contact_pad_to_button": 0.021191563685704518,
+            "closest_contact_pad": [
+              0.1826246082782745,
+              -0.3973040878772735,
+              0.7899574304421437
+            ],
+            "closest_contact_pad_button": [
+              0.1826246082782745,
+              -0.3973040878772735,
+              0.7687658667564392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021191563685704518
+            ]
+          },
+          "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": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a535dfc377a1ceec03891ad183cc882d12b06030f09c83919d23caa7c9e61ea",
+    "visual_seed": 8806323346419902556,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd193b4b8e141942912c7ec8d3d40a40f5be311
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_78_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37726028038158277,
+              0.2102074570000852,
+              1.1652000558158653
+            ],
+            "current_z": 1.1652000558158653,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3040933689871651,
+            "gripper_z": 1.1544097300276714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37208057153365787,
+              0.205225131589302,
+              1.1544097300276714
+            ],
+            "object_minus_gripper": [
+              0.005179708847924902,
+              0.004982325410783195,
+              0.010790325788193833
+            ],
+            "object_to_gripper_xy": 0.007186998695436604,
+            "object_to_gripper_z": 0.010790325788193833,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37726028038158277,
+              0.18602100009963535,
+              1.1652000558158653
+            ],
+            "finger_b": [
+              0.3661230539503917,
+              0.2102074570000852,
+              1.1652000558158653
+            ],
+            "finger_midpoint": [
+              0.3716916671659872,
+              0.19811422854986027,
+              1.1652000558158653
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055686132155955415,
+              0.012093228450224924,
+              0.0
+            ],
+            "finger_gap": 0.026627476597998155,
+            "fingertip_max_gap": 0.09079279000888332,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013313738298999078,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652000558158653,
+            "object_top_z": 1.2151129143794734,
+            "finger_top_clearance": 0.049912858563608165,
+            "fingertip_min_top_clearance": 0.014973857569082483,
+            "object_projection_between_fingers": 0.8250580047399969,
+            "object_to_finger_line_xy": 0.010116243876027086,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047896395004441664,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6048302678013016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3292090053192281,
+              -0.33781799035448257,
+              0.851539604197886
+            ],
+            "target_position": [
+              0.31997261946338035,
+              -0.33989665499166083,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009467400400952715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18611076376633404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539604197886,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536173680943847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537595196813029,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15466019520688976,
+            "release_required_pad_clearance": 0.05268797598406515,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43159997403668526,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008105933666229248,
+            "max_z_decrease": 0.008105933666229248,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502492244005241,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008105933666229248,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02104497013469585,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008105933666229248,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008105953850623814,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17567254602909077,
+              -0.39615809917449946,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17567254602909077,
+              -0.39615809917449946,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17454995908972024,
+              -0.39647193439477646,
+              0.8037079333885936
+            ],
+            "closest_button": [
+              0.17568458616733543,
+              -0.39614459872245783,
+              0.7687029242515564
+            ],
+            "closest_ee_minus_button": [
+              -0.0011346270776151912,
+              -0.00032733567231862937,
+              0.03500500913703719
+            ],
+            "button_min_z_position": [
+              0.17568458616733543,
+              -0.39614459872245783,
+              0.7687029242515564
+            ],
+            "min_active_finger_to_button": 0.14683017544068838,
+            "closest_active_finger": [
+              0.03373447060585022,
+              -0.3811417818069458,
+              0.8100201487541199
+            ],
+            "closest_active_finger_button": [
+              0.1756754219532012,
+              -0.39616349339485163,
+              0.7755786776542664
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141940951347351,
+              0.015021711587905828,
+              0.034441471099853516
+            ],
+            "min_contact_pad_to_button": 0.02104497013469585,
+            "closest_contact_pad": [
+              0.17568458616733543,
+              -0.39758040792716054,
+              0.7896988576649089
+            ],
+            "closest_contact_pad_button": [
+              0.17568458616733543,
+              -0.39614459872245783,
+              0.7687029242515564
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014358092047027093,
+              0.020995933413352486
+            ]
+          },
+          "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": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0377775b6554947591096c035da4dc69c38e95064dbb5ba269907cf7c7690f0",
+    "visual_seed": 6471472019638972018,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e0b1018ac869d141ebb658cf53e3939e1d4837b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_79_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37929169981393157,
+              0.21325872666362433,
+              1.1625922002347169
+            ],
+            "current_z": 1.1625922002347169,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3014856922199507,
+            "gripper_z": 1.1517523221826889,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3741973749068453,
+              0.20836228607831908,
+              1.1517523221826889
+            ],
+            "object_minus_gripper": [
+              0.005094324907086278,
+              0.004896440585305251,
+              0.010839878052028018
+            ],
+            "object_to_gripper_xy": 0.00706592362429598,
+            "object_to_gripper_z": 0.010839878052028018,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37929169981393157,
+              0.18918167713369047,
+              1.1625922002347169
+            ],
+            "finger_b": [
+              0.3682170728186713,
+              0.21325872666362433,
+              1.1625922002347169
+            ],
+            "finger_midpoint": [
+              0.3737543863163014,
+              0.2012202018986574,
+              1.1625922002347169
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055373134976301475,
+              0.012038524764966918,
+              0.0
+            ],
+            "finger_gap": 0.026501918367375532,
+            "fingertip_max_gap": 0.09079788729076618,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013250959183687754,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625922002347169,
+            "object_top_z": 1.2124456878623513,
+            "finger_top_clearance": 0.04985348762763442,
+            "fingertip_min_top_clearance": 0.014956046288290292,
+            "object_projection_between_fingers": 0.8253761369494481,
+            "object_to_finger_line_xy": 0.010061322316148615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047898943645383094,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6629117255571358,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33691795496168153,
+              -0.3342211331708008,
+              0.8515395627778986
+            ],
+            "target_position": [
+              0.32793113006375746,
+              -0.3363797476272443,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009242436806249468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18425189010691018,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395627778986,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551960381904278,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686386408197548,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15248939430815447,
+            "release_required_pad_clearance": 0.05343193204098774,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8779893885666439,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008054256439208984,
+            "max_z_decrease": 0.008054256439208984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035063735158927994,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008054256439208984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021120511098405462,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008054256439208984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008054258932857737,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18363106250762934,
+              -0.39264121651649475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18363106250762934,
+              -0.39264121651649475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1834185623329792,
+              -0.3918822462992974,
+              0.8038095675323195
+            ],
+            "closest_button": [
+              0.18362526595592496,
+              -0.3926386535167694,
+              0.7687546014785767
+            ],
+            "closest_ee_minus_button": [
+              -0.00020670362294575306,
+              0.0007564072174719993,
+              0.03505496605374281
+            ],
+            "button_min_z_position": [
+              0.18362526595592496,
+              -0.3926386535167694,
+              0.7687546014785767
+            ],
+            "min_active_finger_to_button": 0.14569442807377853,
+            "closest_active_finger": [
+              0.05743610858917236,
+              -0.4567302465438843,
+              0.8110084533691406
+            ],
+            "closest_active_finger_button": [
+              0.18363517522811887,
+              -0.39264324307441706,
+              0.776461124420166
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1261990666389465,
+              -0.06408700346946722,
+              0.03454732894897461
+            ],
+            "min_contact_pad_to_button": 0.021120511098405462,
+            "closest_contact_pad": [
+              0.18362526595592496,
+              -0.39287587243819433,
+              0.7898737803509
+            ],
+            "closest_contact_pad_button": [
+              0.18362526595592496,
+              -0.3926386535167694,
+              0.7687546014785767
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00023721892142491985,
+              0.021119178872323285
+            ]
+          },
+          "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": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9269c093354c191590ecfda9ac60a863d206dda760e128144e5f73aeae73ccc",
+    "visual_seed": 587596156405985433,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe13fb60539c50ba67e1106a6524c06eab6023ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_7_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37819503789214676,
+              0.2100595185812518,
+              1.1634059892818032
+            ],
+            "current_z": 1.1634059892818032,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.302299540871682,
+            "gripper_z": 1.152584979554994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37301349306004056,
+              0.20510640282672093,
+              1.152584979554994
+            ],
+            "object_minus_gripper": [
+              0.0051815448321062,
+              0.004953115754530862,
+              0.010821009726809105
+            ],
+            "object_to_gripper_xy": 0.007168107318177393,
+            "object_to_gripper_z": 0.010821009726809105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37819503789214676,
+              0.18593913909794516,
+              1.1634059892818032
+            ],
+            "finger_b": [
+              0.3670130724515959,
+              0.2100595185812518,
+              1.1634059892818032
+            ],
+            "finger_midpoint": [
+              0.37260405517187134,
+              0.19799932883959848,
+              1.1634059892818032
+            ],
+            "object_minus_finger_midpoint": [
+              0.005590982720275417,
+              0.012060189741653321,
+              0.0
+            ],
+            "finger_gap": 0.026586256929706995,
+            "fingertip_max_gap": 0.09063582868264428,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293128464853497,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634059892818032,
+            "object_top_z": 1.213246597146886,
+            "finger_top_clearance": 0.04984060786508282,
+            "fingertip_min_top_clearance": 0.014952182359524878,
+            "object_projection_between_fingers": 0.8231024180723598,
+            "object_to_finger_line_xy": 0.010144837255895666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781791434132214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.611170751576539,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3307003487491792,
+              -0.34034926981592517,
+              0.851539586523366
+            ],
+            "target_position": [
+              0.32164178196699483,
+              -0.3423164810868933,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009269711556025781,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1868817617194076,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539586523366,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527017000997725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545257836096408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15566781711098432,
+            "release_required_pad_clearance": 0.05272628918048204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5051284501922859,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008248448371887207,
+            "max_z_decrease": 0.008248448371887207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500709409437091,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008248448371887207,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02098151828365015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008248448371887207,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008248510112691072,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17734171450138086,
+              -0.3985779285430908,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17734171450138086,
+              -0.3985779285430908,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1759032046862095,
+              -0.3991606908297863,
+              0.8035970912719821
+            ],
+            "closest_button": [
+              0.17736558616161346,
+              -0.39856216311454773,
+              0.7686256766319275
+            ],
+            "closest_ee_minus_button": [
+              -0.001462381475403951,
+              -0.0005985277152385504,
+              0.0349714146400546
+            ],
+            "button_min_z_position": [
+              0.17736838757991785,
+              -0.39856040477752686,
+              0.7685604095458984
+            ],
+            "min_active_finger_to_button": 0.14708979858983084,
+            "closest_active_finger": [
+              0.034967273473739624,
+              -0.38504207134246826,
+              0.8104270696640015
+            ],
+            "closest_active_finger_button": [
+              0.17734324932098386,
+              -0.3985821008682251,
+              0.776059091091156
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14237597584724423,
+              0.013540029525756836,
+              0.03436797857284546
+            ],
+            "min_contact_pad_to_button": 0.02098151828365015,
+            "closest_contact_pad": [
+              0.17736838757991785,
+              -0.40015696815837776,
+              0.7894810953582247
+            ],
+            "closest_contact_pad_button": [
+              0.17736838757991785,
+              -0.39856040477752686,
+              0.7685604095458984
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015965633808509017,
+              0.020920685812326312
+            ]
+          },
+          "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": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "442aa3ee2ca13bec438f4b866fcad86ff04a917a5c12a32d21b12e83d20d69ee",
+    "visual_seed": 5628517224337988114,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24cf941f26fb7c47375c368b8b8634524ab55ab0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_80_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3832149556467315,
+              0.21623404841569957,
+              1.1657741578000738
+            ],
+            "current_z": 1.1657741578000738,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3046676497853077,
+            "gripper_z": 1.1548937676992042,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37784934663282,
+              0.21121636668367025,
+              1.1548937676992042
+            ],
+            "object_minus_gripper": [
+              0.005365609013911532,
+              0.005017681732029322,
+              0.010880390100869608
+            ],
+            "object_to_gripper_xy": 0.007346216036444168,
+            "object_to_gripper_z": 0.010880390100869608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3832149556467315,
+              0.19175907144508586,
+              1.1657741578000738
+            ],
+            "finger_b": [
+              0.3722274308006029,
+              0.21623404841569957,
+              1.1657741578000738
+            ],
+            "finger_midpoint": [
+              0.3777211932236672,
+              0.20399655993039273,
+              1.1657741578000738
+            ],
+            "object_minus_finger_midpoint": [
+              0.005493762423064319,
+              0.012237488485306841,
+              0.0
+            ],
+            "finger_gap": 0.026828160577206286,
+            "fingertip_max_gap": 0.09081707143000925,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013414080288603131,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657741578000738,
+            "object_top_z": 1.2156786905071724,
+            "finger_top_clearance": 0.0499045327070986,
+            "fingertip_min_top_clearance": 0.01497135981212958,
+            "object_projection_between_fingers": 0.8322672195831093,
+            "object_to_finger_line_xy": 0.010023773966878818,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790853571500463,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6469337648612077,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 378,
+            "max_stable_success_frames": 378,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3290308142989071,
+              -0.33244906666894325,
+              0.8515395603325145
+            ],
+            "target_position": [
+              0.32109530482642606,
+              -0.3340989454625312,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008105208857356357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862828455799347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395603325145,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521399909024848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587091107233728,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15515025939133592,
+            "release_required_pad_clearance": 0.052935455536168644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9082682274369894,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007915854454040527,
+            "max_z_decrease": 0.007915854454040527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035119483109953394,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007915854454040527,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021172709288274593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007915854454040527,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007915878423046453,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1767952293157577,
+              -0.39036041498184204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1767952293157577,
+              -0.39036041498184204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17540854805747755,
+              -0.3912969566611845,
+              0.8076661365129624
+            ],
+            "closest_button": [
+              0.1767833679914474,
+              -0.39036360383033747,
+              0.7725859880447388
+            ],
+            "closest_ee_minus_button": [
+              -0.0013748199339698453,
+              -0.0009333528308470562,
+              0.035080148468223604
+            ],
+            "button_min_z_position": [
+              0.17677584290504453,
+              -0.3903623223304748,
+              0.7688930034637451
+            ],
+            "min_active_finger_to_button": 0.14742806349241833,
+            "closest_active_finger": [
+              0.034118205308914185,
+              -0.37647467851638794,
+              0.8102169036865234
+            ],
+            "closest_active_finger_button": [
+              0.17679780721664423,
+              -0.3903644680976867,
+              0.7757983207702637
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14267960190773005,
+              0.013889789581298773,
+              0.034418582916259766
+            ],
+            "min_contact_pad_to_button": 0.021172709288274593,
+            "closest_contact_pad": [
+              0.17677584290504453,
+              -0.39244343820861405,
+              0.789963185601248
+            ],
+            "closest_contact_pad_button": [
+              0.17677584290504453,
+              -0.3903623223304748,
+              0.7688930034637451
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020811158781392503,
+              0.02107018213750289
+            ]
+          },
+          "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": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae0a139dd3541576ab2b552ba4a4d5804d5992e644e757668e26151f8151d3cf",
+    "visual_seed": 1753897770814882109,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6adc999438a4592c2e90bae7fe893136c9f57c9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_81_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38294394186669367,
+              0.21073457108090105,
+              1.1643840066760682
+            ],
+            "current_z": 1.1643840066760682,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3032774390566574,
+            "gripper_z": 1.1535623625939229,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37761855209428774,
+              0.2056517466044562,
+              1.1535623625939229
+            ],
+            "object_minus_gripper": [
+              0.005325389772405931,
+              0.005082824476444842,
+              0.010821644082145365
+            ],
+            "object_to_gripper_xy": 0.00736171725118484,
+            "object_to_gripper_z": 0.010821644082145365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38294394186669367,
+              0.1865127495347169,
+              1.1643840066760682
+            ],
+            "finger_b": [
+              0.3715720049973472,
+              0.21073457108090105,
+              1.1643840066760682
+            ],
+            "finger_midpoint": [
+              0.37725797343202044,
+              0.19862366030780898,
+              1.1643840066760682
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056859684346732275,
+              0.012110910773092065,
+              0.0
+            ],
+            "finger_gap": 0.026758504950306777,
+            "fingertip_max_gap": 0.09071306173550539,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379252475153376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643840066760682,
+            "object_top_z": 1.2142611091156588,
+            "finger_top_clearance": 0.04987710243959054,
+            "fingertip_min_top_clearance": 0.014963130731877194,
+            "object_projection_between_fingers": 0.8193885869891527,
+            "object_to_finger_line_xy": 0.010293886971462655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478565308677527,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6246622923278974,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33190575833243474,
+              -0.33421537227517173,
+              0.8515395567426225
+            ],
+            "target_position": [
+              0.3220678199464425,
+              -0.3365742409395976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010116782742680087,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863939818895028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395567426225,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529174607713272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608550919745243,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551688419874103,
+            "release_required_pad_clearance": 0.05304275459872622,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1162614550851373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008037269115447998,
+            "max_z_decrease": 0.008037269115447998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502195458189413,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008037269115447998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021206938138417283,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008037269115447998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008037281511118613,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17776773869991297,
+              -0.3928357064723968,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17776773869991297,
+              -0.3928357064723968,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1774780831661873,
+              -0.3915895710089987,
+              0.8037702283118234
+            ],
+            "closest_button": [
+              0.1777537018060684,
+              -0.3928371965885162,
+              0.7687715888023376
+            ],
+            "closest_ee_minus_button": [
+              -0.0002756186398810978,
+              0.001247625579517464,
+              0.034998639509485785
+            ],
+            "button_min_z_position": [
+              0.1777537018060684,
+              -0.3928371965885162,
+              0.7687715888023376
+            ],
+            "min_active_finger_to_button": 0.14564207639754612,
+            "closest_active_finger": [
+              0.04966890066862106,
+              -0.45271822810173035,
+              0.8077230453491211
+            ],
+            "closest_active_finger_button": [
+              0.17778107523918146,
+              -0.3928409814834594,
+              0.7728862762451172
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281121745705604,
+              -0.05987724661827093,
+              0.034836769104003906
+            ],
+            "min_contact_pad_to_button": 0.021206938138417283,
+            "closest_contact_pad": [
+              0.1777537018060684,
+              -0.3929589554234496,
+              0.7899781774009966
+            ],
+            "closest_contact_pad_button": [
+              0.1777537018060684,
+              -0.3928371965885162,
+              0.7687715888023376
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012175883493342754,
+              0.021206588598658982
+            ]
+          },
+          "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": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb20ed3312ffedb64686f8b0ed646c7696c266e759032d9e9ad786530521c8bf",
+    "visual_seed": 501781309514496735,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2995f5df619b0270db72863519af6c69a787192b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_82_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3800796266339965,
+              0.21688951859218744,
+              1.1650274284530824
+            ],
+            "current_z": 1.1650274284530824,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3039209800429612,
+            "gripper_z": 1.1541739709245178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37497230471156223,
+              0.21204235928810963,
+              1.1541739709245178
+            ],
+            "object_minus_gripper": [
+              0.005107321922434294,
+              0.004847159304077808,
+              0.010853457528564592
+            ],
+            "object_to_gripper_xy": 0.007041284722157313,
+            "object_to_gripper_z": 0.010853457528564592,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3800796266339965,
+              0.1926649231088906,
+              1.1650274284530824
+            ],
+            "finger_b": [
+              0.369262105402503,
+              0.21688951859218744,
+              1.1650274284530824
+            ],
+            "finger_midpoint": [
+              0.3746708660182497,
+              0.204777220850539,
+              1.1650274284530824
+            ],
+            "object_minus_finger_midpoint": [
+              0.005408760615746799,
+              0.012112297741648431,
+              0.0
+            ],
+            "finger_gap": 0.026530167581890224,
+            "fingertip_max_gap": 0.09091278156103558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013265083790945136,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650274284530824,
+            "object_top_z": 1.2149308233434286,
+            "finger_top_clearance": 0.04990339489034623,
+            "fingertip_min_top_clearance": 0.014971018467103869,
+            "object_projection_between_fingers": 0.8337446896530653,
+            "object_to_finger_line_xy": 0.009877437643619875,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795639078051779,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6895109855779958,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3355686564704462,
+              -0.340538734323534,
+              0.8515396116539381
+            ],
+            "target_position": [
+              0.326542680830165,
+              -0.34263622667602306,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009266483174737836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834550144631544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396116539381,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575376586980324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08765515617358276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15117519941105584,
+            "release_required_pad_clearance": 0.05382757808679138,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.664440993252527,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00812000036239624,
+            "max_z_decrease": 0.00812000036239624,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505929845032831,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00812000036239624,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021035644783533383,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00812000036239624,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00812001317541206,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18224260210990906,
+              -0.3988976776599884,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18224260210990906,
+              -0.3988976776599884,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18014532880238487,
+              -0.3979120530690168,
+              0.8036710923894562
+            ],
+            "closest_button": [
+              0.18225355446338654,
+              -0.3988882899284363,
+              0.7686888575553894
+            ],
+            "closest_ee_minus_button": [
+              -0.0021082256610016614,
+              0.0009762368594194992,
+              0.03498223483406682
+            ],
+            "button_min_z_position": [
+              0.18225355446338654,
+              -0.3988882899284363,
+              0.7686888575553894
+            ],
+            "min_active_finger_to_button": 0.1472200258123384,
+            "closest_active_finger": [
+              0.0536767914891243,
+              -0.4617755115032196,
+              0.8108667731285095
+            ],
+            "closest_active_finger_button": [
+              0.18224546313285828,
+              -0.39889982342720026,
+              0.7763634324073792
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12856867164373398,
+              -0.06287568807601934,
+              0.03450334072113037
+            ],
+            "min_contact_pad_to_button": 0.021035644783533383,
+            "closest_contact_pad": [
+              0.18225355446338654,
+              -0.3990025303086149,
+              0.7897241921283058
+            ],
+            "closest_contact_pad_button": [
+              0.18225355446338654,
+              -0.3988882899284363,
+              0.7686888575553894
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001142403801785985,
+              0.021035334572916398
+            ]
+          },
+          "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": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6b477c5a7c7880f293cd015f6ae939a813e7378c818e9efa0b47594df881228",
+    "visual_seed": 4355279406744847761,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64643e4e71bedef9786d2f3924263b0f79d1ad04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_83_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37675322675765593,
+              0.21420208385640047,
+              1.1656608697211692
+            ],
+            "current_z": 1.1656608697211692,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3045543617064034,
+            "gripper_z": 1.1548577107220805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37160122156704245,
+              0.20921229017988124,
+              1.1548577107220805
+            ],
+            "object_minus_gripper": [
+              0.0051520051906134845,
+              0.004989793676519222,
+              0.01080315899908868
+            ],
+            "object_to_gripper_xy": 0.007172251976774066,
+            "object_to_gripper_z": 0.01080315899908868,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37675322675765593,
+              0.19015524078420998,
+              1.1656608697211692
+            ],
+            "finger_b": [
+              0.3654495432521469,
+              0.21420208385640047,
+              1.1656608697211692
+            ],
+            "finger_midpoint": [
+              0.3711013850049014,
+              0.20217866232030524,
+              1.1656608697211692
+            ],
+            "object_minus_finger_midpoint": [
+              0.005651841752754516,
+              0.01202342153609523,
+              0.0
+            ],
+            "finger_gap": 0.026571110675530155,
+            "fingertip_max_gap": 0.09079143926098779,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013285555337765065,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656608697211692,
+            "object_top_z": 1.215555197607284,
+            "finger_top_clearance": 0.04989432788611481,
+            "fingertip_min_top_clearance": 0.014968298365834475,
+            "object_projection_between_fingers": 0.819024176497281,
+            "object_to_finger_line_xy": 0.01022982842960364,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047895719630493896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5798112474463601,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33690233637039096,
+              -0.334256778424452,
+              0.8515395198886248
+            ],
+            "target_position": [
+              0.327796293549759,
+              -0.336355358270124,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00934473398336433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846409600092215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395198886248,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517176528377953,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567800651606676,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15382978226989233,
+            "release_required_pad_clearance": 0.05283900325803338,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7219888866962818,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00809866189956665,
+            "max_z_decrease": 0.00809866189956665,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035063204849005936,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00809866189956665,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02124399261361473,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00809866189956665,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008098703471501352,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18349622189998616,
+              -0.3926168084144591,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18349622189998616,
+              -0.3926168084144591,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18154693910450703,
+              -0.3914947782478217,
+              0.8066626801357565
+            ],
+            "closest_button": [
+              0.18348342180252067,
+              -0.3926174938678741,
+              0.7716709971427917
+            ],
+            "closest_ee_minus_button": [
+              -0.0019364826980136363,
+              0.0011227156200523947,
+              0.034991682992964734
+            ],
+            "button_min_z_position": [
+              0.18347027897834767,
+              -0.39261737465858454,
+              0.768710196018219
+            ],
+            "min_active_finger_to_button": 0.14750779726249583,
+            "closest_active_finger": [
+              0.053457245230674744,
+              -0.4527950882911682,
+              0.8078063726425171
+            ],
+            "closest_active_finger_button": [
+              0.18350794911384571,
+              -0.3926247358322143,
+              0.7728078961372375
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13005070388317097,
+              -0.06017035245895391,
+              0.03499847650527954
+            ],
+            "min_contact_pad_to_button": 0.02124399261361473,
+            "closest_contact_pad": [
+              0.18347027897834767,
+              -0.3928830671307077,
+              0.7899525270974008
+            ],
+            "closest_contact_pad_button": [
+              0.18347027897834767,
+              -0.39261737465858454,
+              0.768710196018219
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00026569247212315794,
+              0.02124233107918183
+            ]
+          },
+          "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": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ca1af34b52cfc8046f79991d262eca09dfb2346bbe25391c9d1f2a9a148f648",
+    "visual_seed": 2284921546519471664,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a62f4e6c7b9a90304a3c021cfbfc2de5362367
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_84_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38481758150518885,
+              0.21617082912637647,
+              1.1663899845407997
+            ],
+            "current_z": 1.1663899845407997,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3052832977120995,
+            "gripper_z": 1.155507607333179,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3795587368077269,
+              0.21120203544693744,
+              1.155507607333179
+            ],
+            "object_minus_gripper": [
+              0.005258844697461962,
+              0.004968793679439032,
+              0.010882377207620753
+            ],
+            "object_to_gripper_xy": 0.007234940095180959,
+            "object_to_gripper_z": 0.010882377207620753,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38481758150518885,
+              0.19177555829628057,
+              1.1663899845407997
+            ],
+            "finger_b": [
+              0.3738951889860974,
+              0.21617082912637647,
+              1.1663899845407997
+            ],
+            "finger_midpoint": [
+              0.37935638524564314,
+              0.20397319371132852,
+              1.1663899845407997
+            ],
+            "object_minus_finger_midpoint": [
+              0.00546119625954572,
+              0.012197635415047953,
+              0.0
+            ],
+            "finger_gap": 0.0267287840579184,
+            "fingertip_max_gap": 0.09105655021112338,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0133643920289592,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663899845407997,
+            "object_top_z": 1.2162821196774465,
+            "finger_top_clearance": 0.04989213513664681,
+            "fingertip_min_top_clearance": 0.014967640540994042,
+            "object_projection_between_fingers": 0.8330151176820146,
+            "object_to_finger_line_xy": 0.009968830719664253,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048028275105561694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9096741124794007,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 379,
+            "max_stable_success_frames": 379,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3330477296037728,
+              -0.3374505214223511,
+              0.8515395788554776
+            ],
+            "target_position": [
+              0.3253115947011913,
+              -0.33900353099381836,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007890476662408224,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846021983809476,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395788554776,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524955575969504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863008526693899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533650462321221,
+            "release_required_pad_clearance": 0.05315042633469495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3258670521464093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007903754711151123,
+            "max_z_decrease": 0.007903754711151123,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508779023303936,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007903754711151123,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021171986473964722,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007903754711151123,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007903775064627992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18101152777671814,
+              -0.395264983177185,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18101152777671814,
+              -0.395264983177185,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17928289255117408,
+              -0.395949884564126,
+              0.807670630756563
+            ],
+            "closest_button": [
+              0.18100138008594513,
+              -0.3952678740024566,
+              0.7726315855979919
+            ],
+            "closest_ee_minus_button": [
+              -0.0017184875347710515,
+              -0.0006820105616693883,
+              0.035039045158571036
+            ],
+            "button_min_z_position": [
+              0.18099382519721985,
+              -0.3952678740024566,
+              0.7689051032066345
+            ],
+            "min_active_finger_to_button": 0.14782949313973165,
+            "closest_active_finger": [
+              0.03807775676250458,
+              -0.3802866041660309,
+              0.8082945346832275
+            ],
+            "closest_active_finger_button": [
+              0.18101796507835388,
+              -0.39527112245559687,
+              0.7736951112747192
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1429402083158493,
+              0.014984518289565985,
+              0.0345994234085083
+            ],
+            "min_contact_pad_to_button": 0.021171986473964722,
+            "closest_contact_pad": [
+              0.18099382519721985,
+              -0.3971133019894767,
+              0.7899965092005096
+            ],
+            "closest_contact_pad_button": [
+              0.18099382519721985,
+              -0.3952678740024566,
+              0.7689051032066345
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018454279870200874,
+              0.021091405993875045
+            ]
+          },
+          "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": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef8ed293087ac0a22c38633e21f7c3182559700cca5f66f6faf2bd20dbbba7d7",
+    "visual_seed": 6274522793021082082,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e94c7b1df8f319dd2dcfdfb09c48d3902ea7b291
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_85_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38491177902113904,
+              0.2133094365416049,
+              1.1624583080677886
+            ],
+            "current_z": 1.1624583080677886,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.3013515020297989,
+            "gripper_z": 1.1517705498949504,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37980406758589547,
+              0.20843566448811268,
+              1.1517705498949504
+            ],
+            "object_minus_gripper": [
+              0.005107711435243578,
+              0.004873772053492209,
+              0.01068775817283818
+            ],
+            "object_to_gripper_xy": 0.007059912898550497,
+            "object_to_gripper_z": 0.01068775817283818,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38491177902113904,
+              0.18920462021221124,
+              1.1624583080677886
+            ],
+            "finger_b": [
+              0.3738970768080614,
+              0.2133094365416049,
+              1.1624583080677886
+            ],
+            "finger_midpoint": [
+              0.3794044279146002,
+              0.20125702837690806,
+              1.1624583080677886
+            ],
+            "object_minus_finger_midpoint": [
+              0.005507351106538827,
+              0.012052408164696826,
+              0.0
+            ],
+            "finger_gap": 0.026502185478118227,
+            "fingertip_max_gap": 0.09098037460609945,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013251092739059113,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624583080677886,
+            "object_top_z": 1.212289577744648,
+            "finger_top_clearance": 0.04983126967685947,
+            "fingertip_min_top_clearance": 0.01494938090305784,
+            "object_projection_between_fingers": 0.8272642848258129,
+            "object_to_finger_line_xy": 0.010018319960382913,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799018730304973,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8426983875237015,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32790313217763145,
+              -0.3347718155195666,
+              0.851539555050178
+            ],
+            "target_position": [
+              0.3191908869321104,
+              -0.3368292230866218,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008951879306328934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18685605337216576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539555050178,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571916400664686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787022533174575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15459391711877232,
+            "release_required_pad_clearance": 0.05393511266587288,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8804281484364975,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008061110973358154,
+            "max_z_decrease": 0.008061110973358154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350911750261869,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008061110973358154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021079949887544087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008061110973358154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008061115334871645,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1748908162117005,
+              -0.3930906951427459,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1748908162117005,
+              -0.3930906951427459,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17420788818754046,
+              -0.39333173665303084,
+              0.8038315699721168
+            ],
+            "closest_button": [
+              0.1748832315206528,
+              -0.3930871188640594,
+              0.7687477469444275
+            ],
+            "closest_ee_minus_button": [
+              -0.0006753433331123382,
+              -0.00024461778897144626,
+              0.03508382302768931
+            ],
+            "button_min_z_position": [
+              0.1748832315206528,
+              -0.3930871188640594,
+              0.7687477469444275
+            ],
+            "min_active_finger_to_button": 0.14639392333689755,
+            "closest_active_finger": [
+              0.03329852223396301,
+              -0.37890625,
+              0.8106065988540649
+            ],
+            "closest_active_finger_button": [
+              0.17489314079284674,
+              -0.3930931985378265,
+              0.776242733001709
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159461855888372,
+              0.014186948537826483,
+              0.03436386585235596
+            ],
+            "min_contact_pad_to_button": 0.021079949887544087,
+            "closest_contact_pad": [
+              0.1748832315206528,
+              -0.3943557018357129,
+              0.7897894908005199
+            ],
+            "closest_contact_pad_button": [
+              0.1748832315206528,
+              -0.3930871188640594,
+              0.7687477469444275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001268582971653498,
+              0.021041743856092365
+            ]
+          },
+          "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": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d05081f8c6bb984e9bc7a5c314c17064269550d3d9fffc2b1bbfeef3f1b22514",
+    "visual_seed": 7038440480469177814,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f45eacc5f38bd473d1ced587277b8b7f4486375
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_86_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37706688730435106,
+              0.21614051208548343,
+              1.1647707931616167
+            ],
+            "current_z": 1.1647707931616167,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3036641659375613,
+            "gripper_z": 1.1538853637023359,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37189794365738277,
+              0.2112405605346015,
+              1.1538853637023359
+            ],
+            "object_minus_gripper": [
+              0.005168943646968294,
+              0.004899951550881937,
+              0.010885429459280838
+            ],
+            "object_to_gripper_xy": 0.007122324313489536,
+            "object_to_gripper_z": 0.010885429459280838,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37706688730435106,
+              0.19194119047016056,
+              1.1647707931616167
+            ],
+            "finger_b": [
+              0.3660780398373825,
+              0.21614051208548343,
+              1.1647707931616167
+            ],
+            "finger_midpoint": [
+              0.3715724635708668,
+              0.204040851277822,
+              1.1647707931616167
+            ],
+            "object_minus_finger_midpoint": [
+              0.005494423733484244,
+              0.012099660807661422,
+              0.0
+            ],
+            "finger_gap": 0.02657747044573907,
+            "fingertip_max_gap": 0.09074203978567244,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328873522286951,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647707931616167,
+            "object_top_z": 1.2146142950247125,
+            "finger_top_clearance": 0.04984350186309583,
+            "fingertip_min_top_clearance": 0.014953050558928748,
+            "object_projection_between_fingers": 0.8290468913758526,
+            "object_to_finger_line_xy": 0.010005566729076388,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787101989283622,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6288425601521326,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33833317062616547,
+              -0.33997113226342646,
+              0.8515395598006908
+            ],
+            "target_position": [
+              0.3288295395231223,
+              -0.3425937934386344,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009858871932562673,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18799102344104954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395598006908,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591076934649064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515867849839369,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1553106376489773,
+            "release_required_pad_clearance": 0.052579339249196846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22381167264402038,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008231043815612793,
+            "max_z_decrease": 0.008231043815612793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032236697776414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008231043815612793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021049497316876137,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008231043815612793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008231068123073169,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1845294684171676,
+              -0.3988552391529083,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1845294684171676,
+              -0.3988552391529083,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18267405949387927,
+              -0.39868347733605664,
+              0.8036269995116958
+            ],
+            "closest_button": [
+              0.18454129993915552,
+              -0.3988439738750458,
+              0.7686449289321899
+            ],
+            "closest_ee_minus_button": [
+              -0.0018672404452762525,
+              0.00016049653898914107,
+              0.034982070579505864
+            ],
+            "button_min_z_position": [
+              0.18454444408416742,
+              -0.39884197711944575,
+              0.7685778141021729
+            ],
+            "min_active_finger_to_button": 0.14736796098593655,
+            "closest_active_finger": [
+              0.05652082711458206,
+              -0.4631979465484619,
+              0.810815155506134
+            ],
+            "closest_active_finger_button": [
+              0.1845327019691467,
+              -0.398857057094574,
+              0.7763111591339111
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12801187485456464,
+              -0.06434088945388794,
+              0.0345039963722229
+            ],
+            "min_contact_pad_to_button": 0.021049497316876137,
+            "closest_contact_pad": [
+              0.18454444408416742,
+              -0.3997084581057523,
+              0.7896094699569444
+            ],
+            "closest_contact_pad_button": [
+              0.18454444408416742,
+              -0.39884197711944575,
+              0.7685778141021729
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008664809863065392,
+              0.021031655854771514
+            ]
+          },
+          "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": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8cf823e888c18f394865112378f0122412637d11e15e0c6434b4d44c9af43c26",
+    "visual_seed": 8813600529343676403,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5779f92b661755d0b53ac98bd00209b93ffa6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_87_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3855433635712818,
+              0.2189903122228899,
+              1.1623088109963522
+            ],
+            "current_z": 1.1623088109963522,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30120218377229646,
+            "gripper_z": 1.1514583346533422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3805647386180687,
+              0.21392643134842682,
+              1.1514583346533422
+            ],
+            "object_minus_gripper": [
+              0.004978624953213107,
+              0.005063880874463078,
+              0.010850476343009952
+            ],
+            "object_to_gripper_xy": 0.007101379861372659,
+            "object_to_gripper_z": 0.010850476343009952,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3855433635712818,
+              0.1951397387312239,
+              1.1623088109963522
+            ],
+            "finger_b": [
+              0.37404057739075713,
+              0.2189903122228899,
+              1.1623088109963522
+            ],
+            "finger_midpoint": [
+              0.3797919704810195,
+              0.2070650254770569,
+              1.1623088109963522
+            ],
+            "object_minus_finger_midpoint": [
+              0.005751393090262347,
+              0.011925286745832986,
+              0.0
+            ],
+            "finger_gap": 0.02647950048237751,
+            "fingertip_max_gap": 0.09067580918027004,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239750241188742,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623088109963522,
+            "object_top_z": 1.2121827083387848,
+            "finger_top_clearance": 0.04987389734243264,
+            "fingertip_min_top_clearance": 0.01496216920272979,
+            "object_projection_between_fingers": 0.8112936486421645,
+            "object_to_finger_line_xy": 0.010360771244159482,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047837904590135025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.572049428325321,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3325194352385081,
+              -0.3340162683086406,
+              0.8515395900171528
+            ],
+            "target_position": [
+              0.32487746532167444,
+              -0.3355554518160935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077954339250233635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18570201894900856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395900171528,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565503554750576,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523158810399005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15348436610248004,
+            "release_required_pad_clearance": 0.05261579405199503,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2934196080747172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008156657218933105,
+            "max_z_decrease": 0.008156657218933105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506307508186641,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008156657218933105,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021043581807238865,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008156657218933105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815668436115009,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18057739734649664,
+              -0.3918169140815735,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18057739734649664,
+              -0.3918169140815735,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1811552652585064,
+              -0.3898002994219514,
+              0.803653454655267
+            ],
+            "closest_button": [
+              0.1805943995714188,
+              -0.3918045163154602,
+              0.7686522006988525
+            ],
+            "closest_ee_minus_button": [
+              0.0005608656870876028,
+              0.0020042168935088256,
+              0.03500125395641451
+            ],
+            "button_min_z_position": [
+              0.1805943995714188,
+              -0.3918045163154602,
+              0.7686522006988525
+            ],
+            "min_active_finger_to_button": 0.1444326231103291,
+            "closest_active_finger": [
+              0.0551404133439064,
+              -0.4545585811138153,
+              0.8106116652488708
+            ],
+            "closest_active_finger_button": [
+              0.18058229982852939,
+              -0.39182066917419434,
+              0.7761287689208984
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12544188648462298,
+              -0.06273791193962097,
+              0.03448289632797241
+            ],
+            "min_contact_pad_to_button": 0.021043581807238865,
+            "closest_contact_pad": [
+              0.1805943995714188,
+              -0.3918045163154602,
+              0.7896957825060914
+            ],
+            "closest_contact_pad_button": [
+              0.1805943995714188,
+              -0.3918045163154602,
+              0.7686522006988525
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021043581807238865
+            ]
+          },
+          "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": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad314424fd9236740df4be5e709cc4ce84a503384aaf5e718a6e29b05e294d40",
+    "visual_seed": 4003698204431413992,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b57851912c0ba3043a03f9984a9258f73f2de5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_88_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3768411550956831,
+              0.2170868324873337,
+              1.1630357856384803
+            ],
+            "current_z": 1.1630357856384803,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30192927762371446,
+            "gripper_z": 1.1521770655304215,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3717013649617572,
+              0.21217042704329972,
+              1.1521770655304215
+            ],
+            "object_minus_gripper": [
+              0.005139790133925903,
+              0.004916405444033989,
+              0.010858720108058773
+            ],
+            "object_to_gripper_xy": 0.007112558267664954,
+            "object_to_gripper_z": 0.010858720108058773,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3768411550956831,
+              0.1927003843011324,
+              1.1630357856384803
+            ],
+            "finger_b": [
+              0.36609618683982703,
+              0.2170868324873337,
+              1.1630357856384803
+            ],
+            "finger_midpoint": [
+              0.37146867096775504,
+              0.20489360839423304,
+              1.1630357856384803
+            ],
+            "object_minus_finger_midpoint": [
+              0.005372484127928068,
+              0.012193224093100669,
+              0.0
+            ],
+            "finger_gap": 0.02664869974234458,
+            "fingertip_max_gap": 0.09097720650664112,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013324349871172312,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630357856384803,
+            "object_top_z": 1.2129378950616758,
+            "finger_top_clearance": 0.049902109423195506,
+            "fingertip_min_top_clearance": 0.014970632826958652,
+            "object_projection_between_fingers": 0.8374233290064796,
+            "object_to_finger_line_xy": 0.00983281038727175,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047988603253320564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7717615105212993,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33623416224056385,
+              -0.3361944531570408,
+              0.8515395982604221
+            ],
+            "target_position": [
+              0.32882642446757243,
+              -0.33765913157048827,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007551149698438174,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417033282285178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395982604221,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538820948345003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787218140389551,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15260565208971974,
+            "release_required_pad_clearance": 0.053936090701947756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8823297896014815,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00816410779953003,
+            "max_z_decrease": 0.00816410779953003,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350220412580733,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00816410779953003,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021175010191046936,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00816410779953003,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008164133933893746,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18452635407447812,
+              -0.39392060041427607,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18452635407447812,
+              -0.39392060041427607,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18565908997462502,
+              -0.39364962193231473,
+              0.8036467956483913
+            ],
+            "closest_button": [
+              0.18450619280338282,
+              -0.3939161002635956,
+              0.7686447501182556
+            ],
+            "closest_ee_minus_button": [
+              0.001152897171242201,
+              0.0002664783312808505,
+              0.03500204553013564
+            ],
+            "button_min_z_position": [
+              0.18450619280338282,
+              -0.3939161002635956,
+              0.7686447501182556
+            ],
+            "min_active_finger_to_button": 0.1448057665002192,
+            "closest_active_finger": [
+              0.059183649718761444,
+              -0.4575476050376892,
+              0.8077126145362854
+            ],
+            "closest_active_finger_button": [
+              0.18453864753246302,
+              -0.39392659068107605,
+              0.7729678153991699
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12535499781370157,
+              -0.06362101435661316,
+              0.03474479913711548
+            ],
+            "min_contact_pad_to_button": 0.021175010191046936,
+            "closest_contact_pad": [
+              0.18450619280338282,
+              -0.39474394833147275,
+              0.7898035715449668
+            ],
+            "closest_contact_pad_button": [
+              0.18450619280338282,
+              -0.3939161002635956,
+              0.7686447501182556
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008278480678771682,
+              0.021158821426711216
+            ]
+          },
+          "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": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5383a2cc05366f5b3ef3cf8e00349cdf36342f5bdf07053b90ffce4fa3a8fd6",
+    "visual_seed": 9204690210485915616,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d988a7cda04f5adb24574a2352ad6fab8caf2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_89_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37968190994530415,
+              0.21386524179369273,
+              1.1657627072527423
+            ],
+            "current_z": 1.1657627072527423,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30465602042404205,
+            "gripper_z": 1.1549567825935645,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3743486681600856,
+              0.20874655973419315,
+              1.1549567825935645
+            ],
+            "object_minus_gripper": [
+              0.005333241785218545,
+              0.005118682059499585,
+              0.010805924659177846
+            ],
+            "object_to_gripper_xy": 0.0073921833016940275,
+            "object_to_gripper_z": 0.010805924659177846,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37968190994530415,
+              0.18974606641049824,
+              1.1657627072527423
+            ],
+            "finger_b": [
+              0.36812429700592203,
+              0.21386524179369273,
+              1.1657627072527423
+            ],
+            "finger_midpoint": [
+              0.37390310347561306,
+              0.2018056541020955,
+              1.1657627072527423
+            ],
+            "object_minus_finger_midpoint": [
+              0.005778806469691089,
+              0.012059587691597234,
+              0.0
+            ],
+            "finger_gap": 0.026745336752822323,
+            "fingertip_max_gap": 0.09078620374290111,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01337266837641116,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657627072527423,
+            "object_top_z": 1.2156525593712488,
+            "finger_top_clearance": 0.049889852118506495,
+            "fingertip_min_top_clearance": 0.014966955635551948,
+            "object_projection_between_fingers": 0.8132587975385269,
+            "object_to_finger_line_xy": 0.010422755042208243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789310187145056,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5126791740544329,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 371,
+            "max_stable_success_frames": 371,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33127150402201966,
+              -0.3399583082715113,
+              0.8515395577793118
+            ],
+            "target_position": [
+              0.32225481039437326,
+              -0.3422076744900852,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00929303031094275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421343123193634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395577793118,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758932875452357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08784198683245902,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15171384259843837,
+            "release_required_pad_clearance": 0.05392099341622951,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8520258555507096,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008099734783172607,
+            "max_z_decrease": 0.008099734783172607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504237199933471,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008099734783172607,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021100159369873556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008099734783172607,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008099749076241725,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17795473337173465,
+              -0.3984691202640533,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17795473337173465,
+              -0.3984691202640533,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17925084438478958,
+              -0.3983829950588521,
+              0.8037277834527737
+            ],
+            "closest_button": [
+              0.17796407639980316,
+              -0.39845710992813105,
+              0.768709123134613
+            ],
+            "closest_ee_minus_button": [
+              0.00128676798498642,
+              7.411486927894062e-05,
+              0.0350186603181607
+            ],
+            "button_min_z_position": [
+              0.17796407639980316,
+              -0.39845710992813105,
+              0.768709123134613
+            ],
+            "min_active_finger_to_button": 0.1445891010835362,
+            "closest_active_finger": [
+              0.038433194160461426,
+              -0.38293471932411194,
+              0.8092105388641357
+            ],
+            "closest_active_finger_button": [
+              0.17796118557453156,
+              -0.3984744548797607,
+              0.7746205925941467
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13952799141407013,
+              0.015539735555648748,
+              0.034589946269989014
+            ],
+            "min_contact_pad_to_button": 0.021100159369873556,
+            "closest_contact_pad": [
+              0.17796407639980316,
+              -0.39950534525454795,
+              0.7897832287653276
+            ],
+            "closest_contact_pad_button": [
+              0.17796407639980316,
+              -0.39845710992813105,
+              0.768709123134613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001048235326416902,
+              0.021074105630714546
+            ]
+          },
+          "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": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6ee1cf5727538896d35b451018a1eb918b099da7afb970553d9df44627a461e",
+    "visual_seed": 2920216328407291496,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e86ab72cb248ba6f2cc5d8fa436b3ae1ac81d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_8_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3862071401576423,
+              0.2106477066364494,
+              1.1663220532613563
+            ],
+            "current_z": 1.1663220532613563,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30521566445587966,
+            "gripper_z": 1.1554829868986634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38093926354246,
+              0.20561951312151938,
+              1.1554829868986634
+            ],
+            "object_minus_gripper": [
+              0.005267876615182299,
+              0.005028193514930029,
+              0.01083906636269294
+            ],
+            "object_to_gripper_xy": 0.007282393429111677,
+            "object_to_gripper_z": 0.01083906636269294,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3862071401576423,
+              0.18626893396489136,
+              1.1663220532613563
+            ],
+            "finger_b": [
+              0.37516422733326366,
+              0.2106477066364494,
+              1.1663220532613563
+            ],
+            "finger_midpoint": [
+              0.380685683745453,
+              0.1984583203006704,
+              1.1663220532613563
+            ],
+            "object_minus_finger_midpoint": [
+              0.005521456412189318,
+              0.012189386335779012,
+              0.0
+            ],
+            "finger_gap": 0.026763230010937243,
+            "fingertip_max_gap": 0.09095513526839369,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01338161500546861,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663220532613563,
+            "object_top_z": 1.2162396237774766,
+            "finger_top_clearance": 0.049917570516120335,
+            "fingertip_min_top_clearance": 0.014975271154836134,
+            "object_projection_between_fingers": 0.829748779341633,
+            "object_to_finger_line_xy": 0.010059049721103958,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797756763419685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7357950919156261,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 378,
+            "max_stable_success_frames": 378,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3277779442661929,
+              -0.34037162353052564,
+              0.8515395199000967
+            ],
+            "target_position": [
+              0.31991522136627054,
+              -0.3419397767546533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008017575439950991,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18367713016607012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395199000967,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522251895358707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584287927429522,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15264394651936572,
+            "release_required_pad_clearance": 0.05292143963714761,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8811494731560812,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008177638053894043,
+            "max_z_decrease": 0.008177638053894043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501085320599797,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008177638053894043,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02103255317148617,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008177638053894043,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008177646795415914,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17561514675617212,
+              -0.39820122718811024,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17561514675617212,
+              -0.39820122718811024,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17434757035136794,
+              -0.39832989809752684,
+              0.8036188224608009
+            ],
+            "closest_button": [
+              0.17561553418636316,
+              -0.39818927645683283,
+              0.7686312198638916
+            ],
+            "closest_ee_minus_button": [
+              -0.0012679638349952227,
+              -0.0001406216406940053,
+              0.03498760259690925
+            ],
+            "button_min_z_position": [
+              0.17561553418636316,
+              -0.39818927645683283,
+              0.7686312198638916
+            ],
+            "min_active_finger_to_button": 0.14695194194149439,
+            "closest_active_finger": [
+              0.047564178705215454,
+              -0.4615570604801178,
+              0.8105100393295288
+            ],
+            "closest_active_finger_button": [
+              0.17561846971511832,
+              -0.39820533990859974,
+              0.7761075496673584
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12805429100990287,
+              -0.06335172057151806,
+              0.03440248966217041
+            ],
+            "min_contact_pad_to_button": 0.02103255317148617,
+            "closest_contact_pad": [
+              0.17561553418636316,
+              -0.3994813715529462,
+              0.7896240468096365
+            ],
+            "closest_contact_pad_button": [
+              0.17561553418636316,
+              -0.39818927645683283,
+              0.7686312198638916
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012920950961133881,
+              0.02099282694574489
+            ]
+          },
+          "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": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d5f12246091c3954ff7a67834327b4cc18e409bda46db953d041441d3a051d8",
+    "visual_seed": 4568339186632699696,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45a461ca80d1e797d89181467d79ad7e92e3d237
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_90_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3787892232365142,
+              0.21152261839427186,
+              1.163484402257013
+            ],
+            "current_z": 1.163484402257013,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.3023776558236677,
+            "gripper_z": 1.152688576671382,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3735214495018845,
+              0.20637980579736445,
+              1.152688576671382
+            ],
+            "object_minus_gripper": [
+              0.0052677737346297215,
+              0.005142812596907409,
+              0.01079582558563108
+            ],
+            "object_to_gripper_xy": 0.007361926481985832,
+            "object_to_gripper_z": 0.01079582558563108,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3787892232365142,
+              0.18744008078273977,
+              1.163484402257013
+            ],
+            "finger_b": [
+              0.3672023339165117,
+              0.21152261839427186,
+              1.163484402257013
+            ],
+            "finger_midpoint": [
+              0.37299577857651295,
+              0.19948134958850583,
+              1.163484402257013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005793444660001257,
+              0.012041268805766031,
+              0.0
+            ],
+            "finger_gap": 0.026724981233386225,
+            "fingertip_max_gap": 0.09078721526263103,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0133624906166931,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163484402257013,
+            "object_top_z": 1.2133787241928236,
+            "finger_top_clearance": 0.04989432193581056,
+            "fingertip_min_top_clearance": 0.014968296580743168,
+            "object_projection_between_fingers": 0.8120255169134798,
+            "object_to_finger_line_xy": 0.010441230824926687,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789360763131552,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6418791102235853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3297725508691516,
+              -0.33456676637058147,
+              0.8515395549282007
+            ],
+            "target_position": [
+              0.31987167417481044,
+              -0.3370151021812579,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.01019910327226802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864032075080808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395549282007,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553064323922351,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865001073371429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1545827144757369,
+            "release_required_pad_clearance": 0.053250053668571454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5205514217723333,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00796884298324585,
+            "max_z_decrease": 0.00796884298324585,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507490459465587,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00796884298324585,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021157463514784633,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00796884298324585,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007968868119309573,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1755716055631637,
+              -0.39327657222747797,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1755716055631637,
+              -0.39327657222747797,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17513411435188705,
+              -0.392213610199778,
+              0.8075054385648138
+            ],
+            "closest_button": [
+              0.17556102573871607,
+              -0.39328086376190174,
+              0.7724493741989136
+            ],
+            "closest_ee_minus_button": [
+              -0.0004269113868290153,
+              0.0010672535621237267,
+              0.03505606436590025
+            ],
+            "button_min_z_position": [
+              0.17555183172225947,
+              -0.3932796716690063,
+              0.7688400149345398
+            ],
+            "min_active_finger_to_button": 0.14615496452701596,
+            "closest_active_finger": [
+              0.047391630709171295,
+              -0.45438891649246216,
+              0.8109118342399597
+            ],
+            "closest_active_finger_button": [
+              0.17557582259178156,
+              -0.39327812194824213,
+              0.7763350009918213
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12818419188261027,
+              -0.061110794544220026,
+              0.03457683324813843
+            ],
+            "min_contact_pad_to_button": 0.021157463514784633,
+            "closest_contact_pad": [
+              0.17555183172225947,
+              -0.39355382666078786,
+              0.7899957021467275
+            ],
+            "closest_contact_pad_button": [
+              0.17555183172225947,
+              -0.3932796716690063,
+              0.7688400149345398
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002741549917815722,
+              0.021155687212187746
+            ]
+          },
+          "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": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "160b8b8f9ae4fa8d8ef7770016b93e10bfcd8830ddeadb873b1944089f34e016",
+    "visual_seed": 6116230708896067762,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e695b9485dcd6d26331486a87150c6ea32fdb18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_91_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37966254500142105,
+              0.2162876838076474,
+              1.1650159094244084
+            ],
+            "current_z": 1.1650159094244084,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3039091629910633,
+            "gripper_z": 1.15418499041916,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3747450653289962,
+              0.21133390297076177,
+              1.15418499041916
+            ],
+            "object_minus_gripper": [
+              0.00491747967242484,
+              0.004953780836885635,
+              0.010830919005248463
+            ],
+            "object_to_gripper_xy": 0.006980082442823069,
+            "object_to_gripper_z": 0.010830919005248463,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37966254500142105,
+              0.192399705298885,
+              1.1650159094244084
+            ],
+            "finger_b": [
+              0.36842112374971886,
+              0.2162876838076474,
+              1.1650159094244084
+            ],
+            "finger_midpoint": [
+              0.3740418343755699,
+              0.2043436945532662,
+              1.1650159094244084
+            ],
+            "object_minus_finger_midpoint": [
+              0.005620710625851122,
+              0.011943989254381199,
+              0.0
+            ],
+            "finger_gap": 0.026400853565620105,
+            "fingertip_max_gap": 0.09071540979520512,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200426782810065,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650159094244084,
+            "object_top_z": 1.2148902236125358,
+            "finger_top_clearance": 0.04987431418812749,
+            "fingertip_min_top_clearance": 0.014962294256438247,
+            "object_projection_between_fingers": 0.8186963662391479,
+            "object_to_finger_line_xy": 0.010171444972457276,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785770489760256,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5901333177337347,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33605247505322544,
+              -0.3400085761110113,
+              0.8515395912803088
+            ],
+            "target_position": [
+              0.3272737531439803,
+              -0.3421288963798233,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009031152551152928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18431726989046174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395912803088,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526631686373708,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594463475216506,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15335850629118158,
+            "release_required_pad_clearance": 0.05297231737608253,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9795784822617735,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00829380750656128,
+            "max_z_decrease": 0.00829380750656128,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035013905878748516,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00829380750656128,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02123249427622286,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00829380750656128,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00829382113784581,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18297368288040156,
+              -0.39839035272598267,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18297368288040156,
+              -0.39839035272598267,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18294719782856353,
+              -0.3996182450170865,
+              0.8035068844017427
+            ],
+            "closest_button": [
+              0.18297627568244929,
+              -0.398375540971756,
+              0.7685150504112244
+            ],
+            "closest_ee_minus_button": [
+              -2.9077853885756122e-05,
+              -0.0012427040453305005,
+              0.034991833990518306
+            ],
+            "button_min_z_position": [
+              0.18297627568244929,
+              -0.398375540971756,
+              0.7685150504112244
+            ],
+            "min_active_finger_to_button": 0.1457707398450709,
+            "closest_active_finger": [
+              0.04211968928575516,
+              -0.38419273495674133,
+              0.8075746297836304
+            ],
+            "closest_active_finger_button": [
+              0.18298268318176264,
+              -0.39839667081832886,
+              0.772861897945404
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14086299389600748,
+              0.014203935861587524,
+              0.03471273183822632
+            ],
+            "min_contact_pad_to_button": 0.02123249427622286,
+            "closest_contact_pad": [
+              0.18297627568244929,
+              -0.4007407304578429,
+              0.7896153985572797
+            ],
+            "closest_contact_pad_button": [
+              0.18297627568244929,
+              -0.398375540971756,
+              0.7685150504112244
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023651894860869382,
+              0.021100348146055325
+            ]
+          },
+          "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": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b32f003296f14372f247d34b6e32a9ddef90e8afc66b3aefeac7cafb5a48e3e",
+    "visual_seed": 195679105745086472,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa33a4910b15688a1a6349b8902340edde1d449
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_92_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37910460355973874,
+              0.21732461340132336,
+              1.165571572435332
+            ],
+            "current_z": 1.165571572435332,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30446518362985553,
+            "gripper_z": 1.15477277377885,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37384940806405853,
+              0.21213539338902682,
+              1.15477277377885
+            ],
+            "object_minus_gripper": [
+              0.005255195495680209,
+              0.005189220012296547,
+              0.010798798656481923
+            ],
+            "object_to_gripper_xy": 0.00738546437496225,
+            "object_to_gripper_z": 0.010798798656481923,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37910460355973874,
+              0.19331064354994054,
+              1.165571572435332
+            ],
+            "finger_b": [
+              0.36737657088237224,
+              0.21732461340132336,
+              1.165571572435332
+            ],
+            "finger_midpoint": [
+              0.37324058722105546,
+              0.20531762847563195,
+              1.165571572435332
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058640163386832755,
+              0.01200698492569141,
+              0.0
+            ],
+            "finger_gap": 0.026724847960362643,
+            "fingertip_max_gap": 0.09066130422672766,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013362423980181335,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165571572435332,
+            "object_top_z": 1.2154771350358968,
+            "finger_top_clearance": 0.04990556260056489,
+            "fingertip_min_top_clearance": 0.014971668780169466,
+            "object_projection_between_fingers": 0.8074161571658696,
+            "object_to_finger_line_xy": 0.01053838074394381,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047830652113363833,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5078760242936898,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3386759236381182,
+              -0.33244109824254153,
+              0.8515395129881055
+            ],
+            "target_position": [
+              0.32913164871219397,
+              -0.3349045023824918,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009857055534912564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18699029938438658,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395129881055,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553423345654148,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537396561774883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15525821756447508,
+            "release_required_pad_clearance": 0.05268698280887442,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.42978270603979263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007976531982421875,
+            "max_z_decrease": 0.007976531982421875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501908189715718,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007976531982421875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021297319296692378,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007976531982421875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797655521135075,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18483157455921168,
+              -0.39116597175598145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18483157455921168,
+              -0.39116597175598145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18598989775506938,
+              -0.39139051813510584,
+              0.8049982600713032
+            ],
+            "closest_button": [
+              0.18482081592082972,
+              -0.39117124676704407,
+              0.7699993848800659
+            ],
+            "closest_ee_minus_button": [
+              0.0011690818342396658,
+              -0.0002192713680617686,
+              0.03499887519123723
+            ],
+            "button_min_z_position": [
+              0.18481239676475522,
+              -0.39116764068603516,
+              0.7688323259353638
+            ],
+            "min_active_finger_to_button": 0.14480377937549097,
+            "closest_active_finger": [
+              0.04527945816516876,
+              -0.37500059604644775,
+              0.808185338973999
+            ],
+            "closest_active_finger_button": [
+              0.1848431080579757,
+              -0.3911709189414978,
+              0.7731333374977112
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13956364989280695,
+              0.01617032289505005,
+              0.03505200147628784
+            ],
+            "min_contact_pad_to_button": 0.021297319296692378,
+            "closest_contact_pad": [
+              0.18481239676475522,
+              -0.39259106464216664,
+              0.7900820241324295
+            ],
+            "closest_contact_pad_button": [
+              0.18481239676475522,
+              -0.39116764068603516,
+              0.7688323259353638
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014234239561314865,
+              0.02124969819706568
+            ]
+          },
+          "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": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b8db75dc2cacc3244c0c1080c37f511cedb4c4c873ff4f2a6fe4ab43b8e95f2",
+    "visual_seed": 273319661679422569,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e3b6d5ca685143dac13a9d7dcc730f74555ec15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_93_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3795792379996958,
+              0.21608113102922627,
+              1.1652726145854015
+            ],
+            "current_z": 1.1652726145854015,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3041661065706356,
+            "gripper_z": 1.1544659912548938,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37433875851939513,
+              0.21099050941874758,
+              1.1544659912548938
+            ],
+            "object_minus_gripper": [
+              0.005240479480300653,
+              0.005090621610478685,
+              0.010806623330507747
+            ],
+            "object_to_gripper_xy": 0.007305960139812206,
+            "object_to_gripper_z": 0.010806623330507747,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3795792379996958,
+              0.19200751638522046,
+              1.1652726145854015
+            ],
+            "finger_b": [
+              0.368082698228277,
+              0.21608113102922627,
+              1.1652726145854015
+            ],
+            "finger_midpoint": [
+              0.3738309681139864,
+              0.20404432370722336,
+              1.1652726145854015
+            ],
+            "object_minus_finger_midpoint": [
+              0.005748269885709367,
+              0.012036807322002907,
+              0.0
+            ],
+            "finger_gap": 0.02667788126414662,
+            "fingertip_max_gap": 0.09095230162307369,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013338940632073297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652726145854015,
+            "object_top_z": 1.2151747099907368,
+            "finger_top_clearance": 0.0499020954053353,
+            "fingertip_min_top_clearance": 0.01497062862160059,
+            "object_projection_between_fingers": 0.8142915686732491,
+            "object_to_finger_line_xy": 0.010374259689377035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797615081153685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7771710100795477,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33292190814275274,
+              -0.33317877164480514,
+              0.8515395651133648
+            ],
+            "target_position": [
+              0.32330255251272927,
+              -0.3354967458243552,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009894695904065219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18503129524301837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395651133648,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522229635680322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519910278028457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414182934852186,
+            "release_required_pad_clearance": 0.05259955139014229,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.26244246627872747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096396923065186,
+            "max_z_decrease": 0.008096396923065186,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499802431385794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096396923065186,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021129097351795467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008096396923065186,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096405207310146,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17900247871875757,
+              -0.3917582035064697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17900247871875757,
+              -0.3917582035064697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17843283198650325,
+              -0.39173162626751673,
+              0.8037056996624085
+            ],
+            "closest_button": [
+              0.17901127040386197,
+              -0.39175066351890564,
+              0.7687124609947205
+            ],
+            "closest_ee_minus_button": [
+              -0.0005784384173587176,
+              1.9037251388909215e-05,
+              0.034993238667688
+            ],
+            "button_min_z_position": [
+              0.17901127040386197,
+              -0.39175066351890564,
+              0.7687124609947205
+            ],
+            "min_active_finger_to_button": 0.14633143407293048,
+            "closest_active_finger": [
+              0.05147925019264221,
+              -0.4546199142932892,
+              0.8114181756973267
+            ],
+            "closest_active_finger_button": [
+              0.17900630831718442,
+              -0.3917591869831085,
+              0.7768021821975708
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275270581245422,
+              -0.06286072731018066,
+              0.03461599349975586
+            ],
+            "min_contact_pad_to_button": 0.021129097351795467,
+            "closest_contact_pad": [
+              0.17901127040386197,
+              -0.39291954982966193,
+              0.7898092014940056
+            ],
+            "closest_contact_pad_button": [
+              0.17901127040386197,
+              -0.39175066351890564,
+              0.7687124609947205
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011688863107562897,
+              0.021096740499285116
+            ]
+          },
+          "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": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17724d2dbf384a1281264cb090c2d49511508ab3d4de42ae9f9366ecb41f003e",
+    "visual_seed": 5595081597786549182,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0dd6c81ec17c0ba658f1f11862909efd6f08c92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_94_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38132514470819134,
+              0.21261132193496485,
+              1.1649953534417516
+            ],
+            "current_z": 1.1649953534417516,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3038887858223408,
+            "gripper_z": 1.154128865212965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37617627349490634,
+              0.20779793701117266,
+              1.154128865212965
+            ],
+            "object_minus_gripper": [
+              0.005148871213285,
+              0.0048133849237921855,
+              0.010866488228786553
+            ],
+            "object_to_gripper_xy": 0.0070483720954263515,
+            "object_to_gripper_z": 0.010866488228786553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38132514470819134,
+              0.18835221473753522,
+              1.1649953534417516
+            ],
+            "finger_b": [
+              0.37056698120175274,
+              0.21261132193496485,
+              1.1649953534417516
+            ],
+            "finger_midpoint": [
+              0.375946062954972,
+              0.20048176833625003,
+              1.1649953534417516
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379081753219328,
+              0.012129553598714815,
+              0.0
+            ],
+            "finger_gap": 0.026537565149192744,
+            "fingertip_max_gap": 0.09098574880896296,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013268782574596384,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649953534417516,
+            "object_top_z": 1.214807176924444,
+            "finger_top_clearance": 0.04981182348269231,
+            "fingertip_min_top_clearance": 0.014943547044807725,
+            "object_projection_between_fingers": 0.8356558935675781,
+            "object_to_finger_line_xy": 0.009834490854113203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799287440448148,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.885504649854109,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3344322477512624,
+              -0.33909450650225836,
+              0.8515395750948334
+            ],
+            "target_position": [
+              0.32505927132862816,
+              -0.341322677560292,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009634180467643111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857615448916744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395750948334,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752802650073863,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677106615472584,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15449100104195765,
+            "release_required_pad_clearance": 0.05338553307736292,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7865726833983664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008081674575805664,
+            "max_z_decrease": 0.008081674575805664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035055630367908756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008081674575805664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021048748153026913,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008081674575805664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00808167918480292,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18075919151306152,
+              -0.3975841403007507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18075919151306152,
+              -0.3975841403007507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17964401808666655,
+              -0.39735298711507716,
+              0.8037641862487415
+            ],
+            "closest_button": [
+              0.18076443672180176,
+              -0.39757728576660145,
+              0.76872718334198
+            ],
+            "closest_ee_minus_button": [
+              -0.0011204186351352063,
+              0.00022429865152429063,
+              0.03503700290676148
+            ],
+            "button_min_z_position": [
+              0.18076443672180176,
+              -0.39757728576660145,
+              0.76872718334198
+            ],
+            "min_active_finger_to_button": 0.1466612909752229,
+            "closest_active_finger": [
+              0.053664542734622955,
+              -0.462179958820343,
+              0.8108380436897278
+            ],
+            "closest_active_finger_button": [
+              0.18076211214065552,
+              -0.3975862264633178,
+              0.7764375805854797
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12709756940603256,
+              -0.0645937323570252,
+              0.03440046310424805
+            ],
+            "min_contact_pad_to_button": 0.021048748153026913,
+            "closest_contact_pad": [
+              0.18076443672180176,
+              -0.39834456228337667,
+              0.7897619423269638
+            ],
+            "closest_contact_pad_button": [
+              0.18076443672180176,
+              -0.39757728576660145,
+              0.76872718334198
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007672765167752171,
+              0.02103475898498386
+            ]
+          },
+          "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": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2607199a5bfa73c4ddbc25b73772944ef9110c3d3abdf988d4968a435f070dd9",
+    "visual_seed": 5756343458244987686,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f39ab80acb23ba4a377c340d3e0db490196da488
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_95_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.37810023634031387,
+              0.21114616667224595,
+              1.165223713308372
+            ],
+            "current_z": 1.165223713308372,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3041172052936061,
+            "gripper_z": 1.1544267905267598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3730351732980482,
+              0.2061329917510255,
+              1.1544267905267598
+            ],
+            "object_minus_gripper": [
+              0.005065063042265672,
+              0.005013174921220442,
+              0.010796922781612261
+            ],
+            "object_to_gripper_xy": 0.00712648485670735,
+            "object_to_gripper_z": 0.010796922781612261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37810023634031387,
+              0.18720553492285855,
+              1.165223713308372
+            ],
+            "finger_b": [
+              0.36670135808427146,
+              0.21114616667224595,
+              1.165223713308372
+            ],
+            "finger_midpoint": [
+              0.3724007972122927,
+              0.19917585079755223,
+              1.165223713308372
+            ],
+            "object_minus_finger_midpoint": [
+              0.005699439128021178,
+              0.011970315874693715,
+              0.0
+            ],
+            "finger_gap": 0.026515811774408354,
+            "fingertip_max_gap": 0.09074132964796264,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013257905887204177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165223713308372,
+            "object_top_z": 1.2151111285566696,
+            "finger_top_clearance": 0.04988741524829754,
+            "fingertip_min_top_clearance": 0.014966224574489262,
+            "object_projection_between_fingers": 0.8151947197945238,
+            "object_to_finger_line_xy": 0.010291834510131612,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787066482398132,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6282092461047863,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3303913730068966,
+              -0.34070656289483464,
+              0.8515394952086668
+            ],
+            "target_position": [
+              0.32071656668343146,
+              -0.3431577539690295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00998049172529957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840369371802507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394952086668,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552730677712344,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578005904764639,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523618867607576,
+            "release_required_pad_clearance": 0.0528900295238232,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8204324564864013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007920563220977783,
+            "max_z_decrease": 0.007920563220977783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506807598849323,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007920563220977783,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02115628062079572,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007920563220977783,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007920583089854619,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17641648650169367,
+              -0.39941921830177307,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17641648650169367,
+              -0.39941921830177307,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17588342253420244,
+              -0.398879030686096,
+              0.8076118178439544
+            ],
+            "closest_button": [
+              0.17640571296215052,
+              -0.39942193031311035,
+              0.7725518345832825
+            ],
+            "closest_ee_minus_button": [
+              -0.0005222904279480745,
+              0.0005428996270143704,
+              0.035059983260671945
+            ],
+            "button_min_z_position": [
+              0.1763989776372909,
+              -0.3994220793247223,
+              0.7688882946968079
+            ],
+            "min_active_finger_to_button": 0.14644708599319672,
+            "closest_active_finger": [
+              0.0481908842921257,
+              -0.4611448049545288,
+              0.8105361461639404
+            ],
+            "closest_active_finger_button": [
+              0.17642159759998316,
+              -0.399423211812973,
+              0.7759807109832764
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12823071330785746,
+              -0.061721593141555786,
+              0.03455543518066406
+            ],
+            "min_contact_pad_to_button": 0.02115628062079572,
+            "closest_contact_pad": [
+              0.1763989776372909,
+              -0.4001665387800399,
+              0.7900314730251776
+            ],
+            "closest_contact_pad_button": [
+              0.1763989776372909,
+              -0.3994220793247223,
+              0.7688882946968079
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007444594553175921,
+              0.02114317832836976
+            ]
+          },
+          "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": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2637cc64ab51bf87e8b100f2477a92a90d1a337813ab732b6c581f8c75de47b8",
+    "visual_seed": 8563522136486247902,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c176eb97def61579fbbf02c7a82bb7b3c5d66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_96_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38495586245196306,
+              0.21228849473712547,
+              1.165167666693395
+            ],
+            "current_z": 1.165167666693395,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3040610394693396,
+            "gripper_z": 1.154324175786205,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3796900925467954,
+              0.2072512422900009,
+              1.154324175786205
+            ],
+            "object_minus_gripper": [
+              0.005265769905167639,
+              0.005037252447124579,
+              0.010843490907189945
+            ],
+            "object_to_gripper_xy": 0.007287128715086057,
+            "object_to_gripper_z": 0.010843490907189945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38495586245196306,
+              0.18809010770112108,
+              1.165167666693395
+            ],
+            "finger_b": [
+              0.37367936461005247,
+              0.21228849473712547,
+              1.165167666693395
+            ],
+            "finger_midpoint": [
+              0.3793176135310078,
+              0.20018930121912326,
+              1.165167666693395
+            ],
+            "object_minus_finger_midpoint": [
+              0.005638248920955269,
+              0.012099193518002205,
+              0.0
+            ],
+            "finger_gap": 0.02669684136228253,
+            "fingertip_max_gap": 0.09070980770125728,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013348420681141265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165167666693395,
+            "object_top_z": 1.2150259986312513,
+            "finger_top_clearance": 0.04985833193785627,
+            "fingertip_min_top_clearance": 0.014957499581356847,
+            "object_projection_between_fingers": 0.8215860860761228,
+            "object_to_finger_line_xy": 0.0102211739391289,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785490385062864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6019505499188451,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 370,
+            "max_stable_success_frames": 370,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3335899903049501,
+              -0.3361935650287642,
+              0.8515395880492986
+            ],
+            "target_position": [
+              0.32384119010351986,
+              -0.3385930659953468,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010039756483901267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556216364439768,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395880492986,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563120660804762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599372395740383,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15354758149629022,
+            "release_required_pad_clearance": 0.05299686197870192,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.027162319914708,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008251786231994629,
+            "max_z_decrease": 0.008251786231994629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034994510731693754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008251786231994629,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104384689635662,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008251786231994629,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008251830317550803,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17954111099243164,
+              -0.39485451579093933,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17954111099243164,
+              -0.39485451579093933,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1797524602043912,
+              -0.39522062529470364,
+              0.8036828836576776
+            ],
+            "closest_button": [
+              0.17955860495567322,
+              -0.3948378562927246,
+              0.7686910033226013
+            ],
+            "closest_ee_minus_button": [
+              0.00019385524871798343,
+              -0.0003827690019790331,
+              0.034991880335076275
+            ],
+            "button_min_z_position": [
+              0.17955924570560453,
+              -0.3948345482349396,
+              0.768557071685791
+            ],
+            "min_active_finger_to_button": 0.1455720500338173,
+            "closest_active_finger": [
+              0.03876688331365585,
+              -0.3812750577926636,
+              0.80986088514328
+            ],
+            "closest_active_finger_button": [
+              0.17954504489898682,
+              -0.3948590159416199,
+              0.7753905057907104
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14077816158533096,
+              0.013583958148956299,
+              0.03447037935256958
+            ],
+            "min_contact_pad_to_button": 0.02104384689635662,
+            "closest_contact_pad": [
+              0.17955924570560453,
+              -0.39621530206700306,
+              0.7895555718953903
+            ],
+            "closest_contact_pad_button": [
+              0.17955924570560453,
+              -0.3948345482349396,
+              0.768557071685791
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001380753832063486,
+              0.020998500209599258
+            ]
+          },
+          "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": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8287b2bea56a15e31b6a1b4ec6583dde04f3bca878636917c5769d8c0a2ca15f",
+    "visual_seed": 4485293011259493971,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..026a6c1d8b222f34ac38c1e1dd3b0ca3222a7665
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_97_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38326952145833637,
+              0.21570041898638348,
+              1.16342471320535
+            ],
+            "current_z": 1.16342471320535,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3023180859812944,
+            "gripper_z": 1.1525442009532971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3779666647163241,
+              0.2107380401392244,
+              1.1525442009532971
+            ],
+            "object_minus_gripper": [
+              0.005302856742012252,
+              0.004962378847159082,
+              0.010880512252052776
+            ],
+            "object_to_gripper_xy": 0.007262609272777705,
+            "object_to_gripper_z": 0.010880512252052776,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38326952145833637,
+              0.19144024513063465,
+              1.16342471320535
+            ],
+            "finger_b": [
+              0.3721504231103559,
+              0.21570041898638348,
+              1.16342471320535
+            ],
+            "finger_midpoint": [
+              0.3777099722843461,
+              0.20357033205850905,
+              1.16342471320535
+            ],
+            "object_minus_finger_midpoint": [
+              0.005559549173990264,
+              0.012130086927874428,
+              0.0
+            ],
+            "finger_gap": 0.026686895353023384,
+            "fingertip_max_gap": 0.09080672517944097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343447676511716,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16342471320535,
+            "object_top_z": 1.2132410129552986,
+            "finger_top_clearance": 0.04981629974994872,
+            "fingertip_min_top_clearance": 0.014944889924984649,
+            "object_projection_between_fingers": 0.8264026713615192,
+            "object_to_finger_line_xy": 0.010108004527046481,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047903362589720486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6848783796384814,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33005529906350506,
+              -0.33535227052747973,
+              0.8515395779810685
+            ],
+            "target_position": [
+              0.3206689077995347,
+              -0.3375654469360667,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009643779900840992,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836665759147999,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395779810685,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537523333156022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597062979601787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523190424033293,
+            "release_required_pad_clearance": 0.05298531489800894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0048215173325363,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008051574230194092,
+            "max_z_decrease": 0.008051574230194092,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508202304171781,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008051574230194092,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021180415375177453,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008051574230194092,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00805157775711659,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1763688325881958,
+              -0.3938269019126892,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1763688325881958,
+              -0.3938269019126892,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17675190340421704,
+              -0.3916748361281975,
+              0.803771096581706
+            ],
+            "closest_button": [
+              0.17636132240295407,
+              -0.39382627606391907,
+              0.7687572836875916
+            ],
+            "closest_ee_minus_button": [
+              0.0003905810012629629,
+              0.0021514399357215885,
+              0.03501381289411443
+            ],
+            "button_min_z_position": [
+              0.17636132240295407,
+              -0.39382627606391907,
+              0.7687572836875916
+            ],
+            "min_active_finger_to_button": 0.14465231525708072,
+            "closest_active_finger": [
+              0.0491345077753067,
+              -0.45321205258369446,
+              0.8076009154319763
+            ],
+            "closest_active_finger_button": [
+              0.1763807237148285,
+              -0.3938327133655548,
+              0.7728620767593384
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272462159395218,
+              -0.05937933921813965,
+              0.03473883867263794
+            ],
+            "min_contact_pad_to_button": 0.021180415375177453,
+            "closest_contact_pad": [
+              0.17636132240295407,
+              -0.39382627606391907,
+              0.789937699062769
+            ],
+            "closest_contact_pad_button": [
+              0.17636132240295407,
+              -0.39382627606391907,
+              0.7687572836875916
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021180415375177453
+            ]
+          },
+          "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": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13a5350ff3144afb024c85fabe1cb0e619e9bf278948686868663fc2c434f011",
+    "visual_seed": 5501651771412658695,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ead260972a78ba25486287c8c5413cc6fcb1e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_98_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3857077488269805,
+              0.21386384683493145,
+              1.1653655555596667
+            ],
+            "current_z": 1.1653655555596667,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3042589283356111,
+            "gripper_z": 1.1545283466425118,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38045142525667675,
+              0.20879819518230341,
+              1.1545283466425118
+            ],
+            "object_minus_gripper": [
+              0.005256323570303756,
+              0.005065651652628039,
+              0.010837208917154895
+            ],
+            "object_to_gripper_xy": 0.007299983845290619,
+            "object_to_gripper_z": 0.010837208917154895,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3857077488269805,
+              0.1897377677231027,
+              1.1653655555596667
+            ],
+            "finger_b": [
+              0.37430093830133254,
+              0.21386384683493145,
+              1.1653655555596667
+            ],
+            "finger_midpoint": [
+              0.3800043435641565,
+              0.20180080727901706,
+              1.1653655555596667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057034052628239795,
+              0.012063039555914395,
+              0.0
+            ],
+            "finger_gap": 0.026686757384108195,
+            "fingertip_max_gap": 0.09067641855088301,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334337869205411,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653655555596667,
+            "object_top_z": 1.215244603663644,
+            "finger_top_clearance": 0.04987904810397725,
+            "fingertip_min_top_clearance": 0.014963714431193174,
+            "object_projection_between_fingers": 0.8173007179716023,
+            "object_to_finger_line_xy": 0.010312291193508,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783820927544151,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5822512774068013,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3335149498930441,
+              -0.3383717195754419,
+              0.8515395199654141
+            ],
+            "target_position": [
+              0.32391965299559355,
+              -0.34075391786471104,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009886586430089042,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18667606509088172,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395199654141,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526187960352722,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642515156741569,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15553432625282168,
+            "release_required_pad_clearance": 0.05321257578370785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4472335467957258,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008021652698516846,
+            "max_z_decrease": 0.008021652698516846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507308992200156,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008021652698516846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021271561001043018,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008021652698516846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008021679915253753,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1796195805072784,
+              -0.39701536297798157,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1796195805072784,
+              -0.39701536297798157,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.178444164261116,
+              -0.39845085639276734,
+              0.804124584148733
+            ],
+            "closest_button": [
+              0.17960134148597706,
+              -0.39701786637306213,
+              0.7690998911857605
+            ],
+            "closest_ee_minus_button": [
+              -0.0011571772248610557,
+              -0.0014329900197052048,
+              0.0350246929629725
+            ],
+            "button_min_z_position": [
+              0.1795990467071532,
+              -0.3970192372798919,
+              0.7687872052192688
+            ],
+            "min_active_finger_to_button": 0.14686153519857145,
+            "closest_active_finger": [
+              0.03767560422420502,
+              -0.3822570741176605,
+              0.8077292442321777
+            ],
+            "closest_active_finger_button": [
+              0.17962767183780662,
+              -0.39702311158180237,
+              0.7730898857116699
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419520676136016,
+              0.014766037464141846,
+              0.03463935852050781
+            ],
+            "min_contact_pad_to_button": 0.021271561001043018,
+            "closest_contact_pad": [
+              0.179601028561592,
+              -0.39964311972599814,
+              0.7899795955309278
+            ],
+            "closest_contact_pad_button": [
+              0.179601028561592,
+              -0.3970178961753845,
+              0.7688706517219543
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00262522355061362,
+              0.021108943808973435
+            ]
+          },
+          "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": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57eb021c7d6cd88ade334f0d53de9036384293be888db0139921757f8fd3650e",
+    "visual_seed": 2826991006001871461,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fabef5754d698788731c7e066cf0ebcac093826
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_99_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.38665392015012,
+              0.21116948227485605,
+              1.1642923728399732
+            ],
+            "current_z": 1.1642923728399732,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30318568601127305,
+            "gripper_z": 1.1534914385310966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.381350953718657,
+              0.2062038599936971,
+              1.1534914385310966
+            ],
+            "object_minus_gripper": [
+              0.0053029664314629965,
+              0.00496562228115896,
+              0.01080093430887663
+            ],
+            "object_to_gripper_xy": 0.007264905891500984,
+            "object_to_gripper_z": 0.01080093430887663,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38665392015012,
+              0.18673236969960924,
+              1.1642923728399732
+            ],
+            "finger_b": [
+              0.37575326009413723,
+              0.21116948227485605,
+              1.1642923728399732
+            ],
+            "finger_midpoint": [
+              0.3812035901221286,
+              0.19895092598723263,
+              1.1642923728399732
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545033002799139,
+              0.012218556287623417,
+              0.0
+            ],
+            "finger_gap": 0.026758117659345625,
+            "fingertip_max_gap": 0.09101509282233336,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379058829672824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642923728399732,
+            "object_top_z": 1.2141633791217807,
+            "finger_top_clearance": 0.04987100628180752,
+            "fingertip_min_top_clearance": 0.014961301884542288,
+            "object_projection_between_fingers": 0.8340434208822118,
+            "object_to_finger_line_xy": 0.009955134375437304,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800754641116668,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8984697099434169,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 375,
+            "max_stable_success_frames": 375,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33462240190037396,
+              -0.3328280682274557,
+              0.8515395878156002
+            ],
+            "target_position": [
+              0.3267320136903363,
+              -0.3345260990773338,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00807103059542209,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852666953240259,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395878156002,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521053334594933,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643621004808831,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542396931620696,
+            "release_required_pad_clearance": 0.05321810502404416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4580099644942912,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008157610893249512,
+            "max_z_decrease": 0.008157610893249512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505016111194729,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008157610893249512,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021067351409077117,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008157610893249512,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008157615038968342,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18243193626403803,
+              -0.3907875716686249,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18243193626403803,
+              -0.3907875716686249,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.182609808706084,
+              -0.38894444860821903,
+              0.8036527722853454
+            ],
+            "closest_button": [
+              0.18242678046226496,
+              -0.3907811641693115,
+              0.7686512470245361
+            ],
+            "closest_ee_minus_button": [
+              0.00018302824381905003,
+              0.0018367155610924946,
+              0.03500152526080924
+            ],
+            "button_min_z_position": [
+              0.18242678046226496,
+              -0.3907811641693115,
+              0.7686512470245361
+            ],
+            "min_active_finger_to_button": 0.14487832902500775,
+            "closest_active_finger": [
+              0.05662102997303009,
+              -0.453779399394989,
+              0.8105955719947815
+            ],
+            "closest_active_finger_button": [
+              0.18243737518787378,
+              -0.390791654586792,
+              0.7760626673698425
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258163452148437,
+              -0.06298774480819702,
+              0.034532904624938965
+            ],
+            "min_contact_pad_to_button": 0.021067351409077117,
+            "closest_contact_pad": [
+              0.18242678046226496,
+              -0.3907811641693115,
+              0.7897185984336133
+            ],
+            "closest_contact_pad_button": [
+              0.18242678046226496,
+              -0.3907811641693115,
+              0.7686512470245361
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021067351409077117
+            ]
+          },
+          "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": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa83c00e399f3edcbc57909da029fe7edb10057a0241cbbee6f8ccfaef1ad65b",
+    "visual_seed": 7069541583538763979,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8828d1cfac9d165a694581ac0f408da3483d2c2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/episode_9_success.json
@@ -0,0 +1,700 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "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": [
+              0.3823940359710102,
+              0.21720092371687325,
+              1.1649014703934928
+            ],
+            "current_z": 1.1649014703934928,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3037950815880164,
+            "gripper_z": 1.154077982604663,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37710784170605055,
+              0.21200793019470637,
+              1.154077982604663
+            ],
+            "object_minus_gripper": [
+              0.005286194264959632,
+              0.005192993522166872,
+              0.0108234877888298
+            ],
+            "object_to_gripper_xy": 0.007410197806277454,
+            "object_to_gripper_z": 0.0108234877888298,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3823940359710102,
+              0.19313071451404604,
+              1.1649014703934928
+            ],
+            "finger_b": [
+              0.37070357885250577,
+              0.21720092371687325,
+              1.1649014703934928
+            ],
+            "finger_midpoint": [
+              0.376548807411758,
+              0.20516581911545964,
+              1.1649014703934928
+            ],
+            "object_minus_finger_midpoint": [
+              0.00584522855925218,
+              0.012035104601413604,
+              0.0
+            ],
+            "finger_gap": 0.026758956607227012,
+            "fingertip_max_gap": 0.09057404585279802,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379478303613494,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649014703934928,
+            "object_top_z": 1.2148185097460877,
+            "finger_top_clearance": 0.04991703935259495,
+            "fingertip_min_top_clearance": 0.014975111805778485,
+            "object_projection_between_fingers": 0.8091357298961297,
+            "object_to_finger_line_xy": 0.0105157967348803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778702292639901,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.413366193942458,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 374,
+            "max_stable_success_frames": 374,
+            "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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3287685456736039,
+              -0.33916965757590223,
+              0.851539654623372
+            ],
+            "target_position": [
+              0.31971164319541934,
+              -0.34144827576521475,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009339142538371061,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18540591646750693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539654623372,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567700459379838,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851230908245799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15333187746223967,
+            "release_required_pad_clearance": 0.05256154541228995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18974554768503687,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008217394351959229,
+            "max_z_decrease": 0.008217394351959229,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502088331632518,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008217394351959229,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02107814336488528,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008217394351959229,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00821746898231871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17541156709194183,
+              -0.3977097272872925,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17541156709194183,
+              -0.3977097272872925,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17495324200806908,
+              -0.39931267710550916,
+              0.8036395997543744
+            ],
+            "closest_button": [
+              0.1754404753446579,
+              -0.3976928293704986,
+              0.7686595916748047
+            ],
+            "closest_ee_minus_button": [
+              -0.00048723333658881596,
+              -0.00161984773501056,
+              0.03498000807956969
+            ],
+            "button_min_z_position": [
+              0.17544062435626984,
+              -0.39769017696380615,
+              0.7685914635658264
+            ],
+            "min_active_finger_to_button": 0.14604197013832498,
+            "closest_active_finger": [
+              0.03400208801031113,
+              -0.38537880778312683,
+              0.8104172945022583
+            ],
+            "closest_active_finger_button": [
+              0.17541362345218658,
+              -0.39771452546119684,
+              0.7760826945304871
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14141153544187546,
+              0.012335717678070013,
+              0.03433459997177124
+            ],
+            "min_contact_pad_to_button": 0.02107814336488528,
+            "closest_contact_pad": [
+              0.17544062435626984,
+              -0.4002945442565953,
+              0.7895080932827504
+            ],
+            "closest_contact_pad_button": [
+              0.17544062435626984,
+              -0.39769017696380615,
+              0.7685914635658264
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026043672927891226,
+              0.020916629716923985
+            ]
+          },
+          "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": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "workflow_spec_digest": "77b70eb90fdfdeba435d41251c30f5e6c30be991a0f6c2a4ad6c5333f5da7731",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ebe76617dae08a3303385ebe864876b0dc03db13ea242eac752bd07349bb029c",
+    "visual_seed": 60663133990964246,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748
+    ],
+    "runtime_workflow_digest": "fed88be12d2bc50520358e5f674ebaca94cea7326059528b67625b434c7a0517"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04a0afd634f8c06b8bf293f7d833a063ce0717b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00049/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s03_plr_hta_00049",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00050/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00050/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..290b07921e251bc53b0e1992ccc7f1b97c7c98c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00050/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0124c78d3c2ba03b81e2cd6d550a7065975fb566e4e53eb2e673097d16e3c6ab
+size 5047309